Switching model predictive control for an articulated vehicle under varying slip angle

In this article a switching model predictive control scheme for an articulated vehicle under varying slip angles is being presented. For the non-holonomic articulated vehicle, the non-linear kinematic model that is able to take under consideration the effect of the slip angles is extracted. This model is transformed into an error dynamics model, which in the sequence is linearized around multiple nominal slip angle cases. The existence of the slip angles has a significant effect on the vehicle´s path tracking capability and can significantly deteriorate the performance of the overall control scheme. Based on the derived multiple error dynamic models, the varying slip angle is being considered as the switching rule and a corresponding switching mode predictive control scheme is being designed that it is also able to take under consideration: a) the constrains on the control signals and b) the state constraints. Multiple simulation results are being presented that prove the efficacy of the overall suggested scheme.