Mitsubishi Electric Research Laboratories, Inc.

Sixiong You

Stefano Di Cairano

Karl Berntorp

Yebin Wang

Rien Quirynen

Marcus Greiff

Eyad Zeino

Shuangxuan Ran

Hassan Iqbal

Astha Tiwari

A system for controlling motion of an articulated vehicle with one or multiple trailers is described. The system is configured to infer the state of a vehicle, determine a motion path with forward motions and backward motions for the vehicle based on the state, and formulate an optimal control problem for optimizing the motion path. The optimal control problem comprises an integral tracking error function indicating integral tracking error based on motion cusps relating to the motion path. The motion cusps indicate switching between forward motion and backward motion. The motion path is optimized over a prediction horizon based on solving the optimal control problem. A control command is generated for the vehicle based on the optimized motion path and a vehicle model, and the motion of the articulated vehicle is controlled based on the control command thereby changing its state.

System and method for controlling motion of articulated vehicles

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Cambridge, MA, United States of America

Sixiong You