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Advanced Model Predictive Vehicle Control

MATLAB · Simulink · CasADi · YALMIP · MPT3 · Gurobi · Control Systems · State Estimation

Advanced Model Predictive Vehicle Control

Overview

This ME-425 course project involved developing various MPC strategies to control a vehicle's longitudinal and lateral motion on a highway. The project covered linearization of a nonlinear model, designing controllers for tracking, disturbance rejection, and handling uncertainty, including adaptive cruise control and nonlinear overtaking maneuvers.

My Role

  • Co-derived analytical linearized models and analyzed system decomposability.
  • Designed and tuned linear MPCs for subsystems, implementing terminal sets for stability and recursive constraint satisfaction.
  • Developed an offset-free tracking controller incorporating a state estimator to reject disturbances.
  • Implemented a robust tube MPC for adaptive cruise control, calculating invariant sets and tightened constraints.
  • Designed a Nonlinear MPC (NMPC) in CasADi with RK4 discretization for complex maneuvers like overtaking, including collision avoidance.

Challenges

  • Ensuring stability and constraint satisfaction across different MPC formulations.
  • Handling model uncertainties and disturbances effectively (e.g., in lead car behavior).

Outcomes

  • Successfully simulated controllers that met performance requirements for reference tracking, lane changes, and settling times.
  • Demonstrated robust adaptive cruise control maintaining safe distances under lead car uncertainty.
  • Achieved successful overtaking maneuvers with the NMPC controller, respecting collision avoidance constraints.

Figures

Terminal invariant set visualization for the MPC controller ensuring stability and constraint satisfaction
Fig. 1: Terminal invariant set visualization for the MPC controller ensuring stability and constraint satisfaction
Minimal robust invariant set used in the robust tube MPC design
Fig. 2: Minimal robust invariant set used in the robust tube MPC design
Controller performance test showing reference tracking and control inputs
Fig. 3: Controller performance test showing reference tracking and control inputs
Nonlinear MPC overtaking maneuver simulation with collision avoidance constraints
Fig. 4: Nonlinear MPC overtaking maneuver simulation with collision avoidance constraints