{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/a-feedback-linearized-model-predictive","title":"A Feedback Linearized Model Predictive Control Strategy for Input-Constrained Self-Driving Cars","arxiv_id":"2405.01753","date":"2024-05-02","proceeding":null,"authors":["Cristian Tiriolo","Walter Lucia"],"abstract":"This paper proposes a novel real-time affordable solution to the trajectory tracking control problem for self-driving cars subject to longitudinal and steering angular velocity constraints. To this end, we develop a dual-mode Model Predictive Control (MPC) solution starting from an input-output feedback linearized description of the vehicle kinematics. First, we derive the state-dependent input constraints acting on the linearized model and characterize their worst-case time-invariant inner approximation. Then, a dual-mode MPC is derived to be real-time affordable and ensuring, by design, constraints fulfillment, recursive feasibility, and uniformly ultimate boundedness of the tracking error in an ad-hoc built robust control invariant region. The approach's effectiveness and performance are experimentally validated via laboratory experiments on a Quanser Qcar. The obtained results show that the proposed solution is computationally affordable and with tracking capabilities that outperform two alternative control schemes.","url_abs":"https://arxiv.org/abs/2405.01753v1","url_pdf":"https://arxiv.org/pdf/2405.01753v1.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"abstracts"},"code_links":[{"paper_slug":"a-feedback-linearized-model-predictive","repo_url":"https://github.com/PreCyseGroup/Feedback-Linearized-MPC-for-self-driving-cars","is_official":1,"mentioned_in_paper":1,"mentioned_in_github":0,"framework":"none","reach":null}],"tasks":[{"task_slug":"model-predictive-control","task_name":"Model Predictive Control"},{"task_slug":"self-driving-cars","task_name":"Self-Driving Cars"}],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"atlas_url":null,"mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}