Model Predictive controller in an Autonomous Vehicle

Abstract

Model predictive control is a part of advanced process control that uses a collection of constraints to control a process.Model Predictive control is a multivariate technique used to solve optimization problem and predicts the future behaviour or optimum control by selecting best control action.With increase in computation and advanced microelectronics it’s uses had spread over a large area of applications including automation and space technology.It had gained so much importance over PID controllers because it can candle MIMO systems in an effective way,it can handle both hard and soft constraints depending upon the uses. It also has feed forward (receding action) control or preview capability and many more advantages.

In this work along with study of MPC, lane keeping assist (LKA) feature of MATLAB  is used  for designing MPC controller model in an automated system scenario and then simulation is done with the  help of MATLAB/SIMULINK for analysing the tracking done by the MPC controllers and then results are verified.Further scope of  MPC and it’s future works had also been described at last.