Optimal Control for Self-Steering of a Truck System

Abstract

In the next few years, vehicles with self-steering features and autonomy will go into marketplaces as a result of a lot of research on autonomous vehicles in recent years. Even the World Economic Forum has estimated that the digital alteration in the automotive business sector will create a huge amount of money in that area. The problem of trajectory path and path following for autonomous vehicles is now arising due to the complexity of the vehicle dynamic model. This paper considers a trajectory path that leads to minimal time and energy consumption. An optimal trajectory path is generated by means of Pentraxin Maximum Principle (PMP) with fixed final state and fixed final time as the constraints. In addition, it is considered an optimal non-linear control approach to control the system. Full state feedback control is selected to design the Linear Quadratic Regulator (LQR) controller. The proposed system is considered for a non-linear truck system by solving the control problem of the linearization of the truck system iterated for every time instant along with the trajectory conditions.