Eventos Anais de eventos
DINAME 2017
XVII International Symposium on Dynamic Problems of Mechanics
Robust Model Predictive Control for Trajectory Tracking by An Unmanned Ground Vehicle - An LMI Approach
Submission Author:
Joao Luis Baldo Martins , SP
Co-Authors:
Joao Luis Baldo Martins, Janito Vaqueiro Ferreira, Andre Ricardo Fioravanti, olmer garcia
Presenter: Joao Luis Baldo Martins
doi://10.26678/ABCM.DINAME2017.DIN17-0044
Abstract
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.
Keywords
Robust Model Predictive Control, Trajectory Tracking, Unmanned Ground Vehicle, Autonomous vehicles
