基于模型预测控制的拖拉机-挂车系统路径跟踪

Tong Wu, J. Hung
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引用次数: 24

摘要

为解决牵引车-挂车系统的路径跟踪问题,设计了最优控制器。推导了一个带有控制延迟的运动模型来描述该系统。根据参考路径的曲率适当定义误差状态,提出了一种基于模型的预测控制器(MPC)来最小化拖车跟踪误差。在每个样本中,计算基于约束和期望系统输出的成本函数的最优解。所提出的控制器可以引导系统向前和向后。仿真结果表明,该系统的性能令人满意,特别是显著降低了直线段和圆弧段交点处的跟踪误差。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Path following for a tractor-trailer system using model predictive control
In this paper, an optimal controller is designed for a tractor-trailer system to solve the path tracking problem. A kinematic model with control delay is derived to describe the system. The error state is properly defined based on the curvature of reference path, and a model-based predictive controller (MPC) is proposed to minimize the trailer tracking error. In each sample, the optimal solution based on a cost function with constraints and desired system outputs are calculated. The proposed controller can guide the system forward and backward. Simulation results show that the system performance is very satisfactory, especially significantly reducing the tracking error at the intersections of line and arc segments.
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