Design and Deployment of a Nonlinear Model Predictive Controller for Motion Planning

Overview

Model Predictive Control (MPC) is an advanced controls technique that has been used for process control since the 1980s. With the increasing computing power of microprocessors as well as high-speed optimization algorithms, the use of MPC has spread to many real-time embedded applications, often used in the automotive, aerospace, industrial automation and other industries. MPC can handle multi-input multi-output (MIMO) systems with coupled input-output channels as well as constraints on inputs, outputs and states, which are challenging to handle with classical control methods.

In this Webinar we will give an overview of different linear and nonlinear MPC control strategies and how Model Predictive Control Toolbox can help you design and validate such controllers. Using a concrete example model we will demonstrate the different design steps for a vehicle lane following application within the Simulink platform. A special focus will be on the Model Predictive Toolbox plugin for FORCESPRO solvers, and how MPC can be deployed to embedded targets using run-time-optimized code.

Target Audience: Control Engineers, Motion Planning Engineers, and Embedded Software Engineers with focus in automotive, autonomous vehicle, industrial automation, robotics and similar fields

About Embotech AG: Embotech AG is headquartered in Zürich, Switzerland, and is a leading developer of cutting-edge decision-making software. Embotech’s embeddable software empowers autonomous systems to make decisions by solving complex optimization problems in milliseconds, bringing significant improvements in safety, productivity, and energy efficiency. Current applications include Automated Driving, Industrial Automation machines and Aerospace Solutions.

About the Presenters

MathWorks

Christoph Kammer is an application engineer at MathWorks Switzerland. He supports customers in many different industries in the areas of control and optimization, system identification as well as machine and deep learning. Christoph has a master’s degree in Mechanical Engineering from ETHZ and a PhD in Electrical Engineering from EPFL, where he specialized in control design and the control and modelling of electromechanical systems and power systems.

Gernot Schraberger is principal application engineer in the Munich office of The MathWorks with 13 years of experience in that position. His main application focus is on electrification, physical system modelling and control design.

Prior to joining MathWorks, Gernot worked as a development engineer for motor control and embedded software engineering in the machinery industry for electronic assembly systems.

Gernot holds a Dipl. Ing. (master’s equivalent degree) in automation engineering from the Technical University of Munich.

Embotech

Thivaharan Albin works for Embotech AG as Head of Industrial Automation Solutions. The industrial automation team improves production processes by deploying NMPC algorithms. Successful applications include the increase of cutting speed and accuracy for laser cutting machines as well as automated motion planning for industrial robots. Thivaharan has an Dipl.-Ing. and PhD in Control Engineering (Germany) and more than 10 years’ experience in application of MPC to various applications and industries.

Stefano Longo is the Head of Automated Driving at Embotech. The Automated Driving team uses FORCESPRO to develop embeddable motion planning software for ground vehicles. The software is capable of accurate and dynamic maneuvers that allow vehicles to be driven autonomously, smoothly and precisely. Stefano has an MSc and PhD in Control Engineering (UK) and 14-year experience in R&D for vehicle control.