A Learning-based Nonlinear Model Predictive Controller for a Real Go-Kart based on Black-box Dynamics Modeling through Gaussian Processes

Lately, Nonlinear Model Predictive Control (NMPC)has been successfully applied to (semi-) autonomous driving problems and has proven to be a very promising technique. However, accurate control models for real vehicles could require costly and time-demanding specific measurements. To address this problem, the exploitation of system data to complement or derive... Show more