Time Variant Predictive Control of Autonomous Vehicles

This paper develops a linearized time variant model predictive control (MPC) approach for controlling autonomous vehicle tracking on feasible trajectories generated from the vehicle nonlinear ordinary differential equations (ODEs). The paper is an application of the results from computational schemes for nonlinear model predictive control published in (International Journal of Control, Automation and Systems 2011 9(5), 958-965; Mechatronics 2013, Trajectory Generation for Autonomous Vehicles, 615-626, Springer). The vehicle nonlinear dynamic equations are derived and solved in MPC optimizer. Solution for the closed loop control is obtained by solving online the vehicle dynamic ODEs. Simulations for the new schemes are presented and analysed.