An Application of a Dynamic Matrix Control Algorithm: Path Tracking Using Predictive Control

An automatic steering system for a self-guided vehicle must be able to track its course smoothly and accurately. In order to meet this requirement, a predictive controller has been implemented in the Verdino prototype. In this chapter the principles behind this kind of controller, as well as the details of the actual implementation, are presented.

Keywords: Dynamic matrix control algorithm, path tracking, predictive control.