2021 29th Mediterranean Conference on Control and Automation (MED) | 2021
Relaxed Barrier MPC for Path Following in Constrained Environments
Abstract
We examine the path following problem in the framework of relaxed barrier function based model predictive control for linear discrete-time systems. We establish exponential stability of the closed-loop system and ensure strict constraint satisfaction under a certain set of initial conditions. Furthermore, we propose an algorithm that is firstly applied to different maneuvers in automated driving and secondly compared to a trajectory tracking algorithm.