Comparative Study of PID and MPC Controller on Four Wheel Vehicle

The following paper aims to perform a comparative study of two powerful control systems used in the industry at present, namely Proportional Integral Derivative Controller(PID) and Model Predictive Controller (MPC) taking bicycle model of 4 wheel vehicle into consideration. The study aims to compare the 2 controllers on their ability to minimize lateral error, in the followed trajectory, with reference to a few test case scenarios. The paper concludes that, MPC controller is the better of the Stwo controllers as it can minimize error in higher degrees of motion as well. The study has been performed on Matlab-Simulink development tools. Index Terms-Vehicle dynamics, Matlab/Simulink, Vehicle Controller, PID, MPC.