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Trajectory-Tracking Using Model Predictive Control for an Autonomous Solar Vehicle


H. Banzhaf

Master Thesis, FS15 (10404)

This thesis presents a new motion controller for the Autonomous Solar Vehicle, an articulated vehicle developed at the Automatic Control Laboratory of the Swiss Federal Institute of Technology in Zurich. The new controller replaces the current H1-controller that is incapable of appropriately representing the nonlinear dynamics of the vehicle or taking obstacles in the environment into account. The new trajectory-tracking controller uses Model Predictive Control. A unicycle model, which is derived and modified in this thesis, is chosen as the control model. Vehicle dynamic tests are conducted to identify the parameters of the control model. The new MPC controller takes into account the nonlinear dynamics of the unicycle model. It also takes full advantage of the available information about the environment by avoiding collisions with obstacles. The algorithm developed was implemented on a low-cost embedded platform. Simulations and experiments prove the effectiveness of the new controller. The remaining challenges arising at higher velocities are described at the end of this thesis.

Supervisors: Damian Frick, Alexander Liniger, Manfred Morari


Type of Publication:

(12)Diploma/Master Thesis

M. Morari

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% Autogenerated BibTeX entry
@PhdThesis { Xxx:2015:IFA_5318
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