Lecture 21 - Model Predictive Control

Overview:

This lecture is goes over model predictive control (MPC). MPC is a model that predicts future state. The linear version of MPC uses a linearized bicycle model to model the F1TENTH vehicle. The nonlinear version is more complex and takes into account more variables and parameters.

Topics Covered:

• Linear MPC

• Non-linear MPC

Slides:

Links to additional resources:

• Motion Planning in Urban Environments