Robust Model Predictive Control for Trajectory Tracking by An Unmanned Ground Vehicle - An LMI Approach | Zendy

JOÃO LUIS BALDO MARTINS | Zendy; Janito Vaqueiro Ferreira | Zendy

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Robust Model Predictive Control for Trajectory Tracking by An Unmanned Ground Vehicle - An LMI Approach

Author(s) -

JOÃO LUIS BALDO MARTINS,

Janito Vaqueiro Ferreira

Publication year - 2016

Publication title -

anais do congresso de iniciação científica da unicamp

Language(s) - English

Resource type - Conference proceedings

ISSN - 2447-5114

DOI - 10.19146/pibic-2016-50766

Subject(s) - trajectory , tracking (education) , unmanned ground vehicle , model predictive control , control theory (sociology) , computer science , robust control , control (management) , control system , artificial intelligence , engineering , physics , psychology , pedagogy , astronomy , electrical engineering

Autonomous vehicles are becoming closier to people's reality. Navigation is a great concern for this robotic system. In this paper, we present a control technique for trajectory tracking by the autonomous vehicle. We designed an augmented vehicle model composed by the bycicle model dynamics and a simplified steering model. For maintaining the vehicle in the desired trajectory, a Robust Model Predictive Control (RMPC) technique was implemented using Linear Matrix Inequalites (LMIs) to control the lateral dynamics of the vehicle. Simulation tests were realized using the Double Lane Change maneuver.

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