TR2016-159

Vehicle Tracking Control on Piecewise-Clothoidal Trajectories by MPC with Guaranteed Error Bounds


    •  Di Cairano, S., Kalabić, U., Berntorp, K., "Vehicle Tracking Control on Piecewise-Clothoidal Trajectories by MPC with Guaranteed Error Bounds", IEEE Conference on Decision and Control (CDC), DOI: 10.1109/​CDC.2016.7798351, December 2016, pp. 709-714.
      BibTeX TR2016-159 PDF
      • @inproceedings{DiCairano2016dec,
      • author = {Di Cairano, Stefano and Kalabić, Uroš and Berntorp, Karl},
      • title = {Vehicle Tracking Control on Piecewise-Clothoidal Trajectories by MPC with Guaranteed Error Bounds},
      • booktitle = {IEEE Conference on Decision and Control (CDC)},
      • year = 2016,
      • pages = {709--714},
      • month = dec,
      • doi = {10.1109/CDC.2016.7798351},
      • url = {https://www.merl.com/publications/TR2016-159}
      • }
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  • Research Area:

    Control

Abstract:

For control architectures of autonomous and semiautonomous driving features, we design a vehicle steering controller with limited preview ensuring that the vehicle constraints are satisfied, and that any piecewise clothoidal trajectory, that is possibly generated by a path planner or supervisory algorithm and satisfies constraints on the desired yaw rate and the change of desired yaw rate, is tracked within a preassigned lateral error bound. The design is based on computing a non-maximal, yet polyhedral, robust control invariant (RCI) set for a system subject to bounded disturbances with state-dependent bounds, which also allows to determine the constraints describing the reference trajectories that can be followed. The RCI set is then enforced by model predictive control, where the cost function enforces additional objectives of the vehicle motion.

 

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