Vehicle Path Tracking Using Model Predictive Control

[@syafiqm2140]

I have a question. For traditional or conventional MPC, do we need to linearize our nonlinear plant model, or we can use it in the form of nonlinear plant to be included in MPC design?

[@HansScharler]

I guess it depends on how nonlinear your plant is. For small deviations from the ideal case, it is possible that a linear MPC controller might be able to manage.
However, there is Nonlinear MPC available as well and for safety-critical or high-performance applications, it might be preferable to use that: mathworks.com/help/mpc/nonlinear-mpc-design.html
When we worked on nonlinear problems in the past, we ended up using a multi-stage controller that could switch between different modes depending on the plant state and also had a nonlinear control response.

[@orientasiprodikelasA]

Hi, I want to make simulation lane detection with MPC algorithm, how can I combine the lane detection with MPC algorithm using LKAsystem?

[@Creative_Sushi-iu4hm]

Start with this example www.mathworks.com/help/mpc/ug/lane-keeping-assist-system-using-model-predictive-control.html

[@Creative_Sushi-iu4hm]

Start with the example "Lane Keeping Assist System Using Model Predictive Control" on mathworks.com.

[@youcefbenslimane1389]

Do you have a contact information, because I want to do a like this project for education

[@HansScharler]

Best place to start is GitHub. Download and try out the project: github.com/mathworks/vehicle-model-predictive-control