Simulation research on trajectory tracking controller based on MPC algorithm
Guan Zhiwei, Jianfeng Ding, Feng Shan Du · 2017
Trajectory tracking controller is used to analyze the trajectory tracking problem in the field of intelligent transportation. According to the theory of model predictive control, the trajectory tracking controller is designed. Besides, vehicle model building, simulation condition setting and external interface setting are completed by CarSim software, the simulation model of the controller is established by Matlab/Simulink software, and the vehicle trajectory tracking controller is simulated in the case of a given circular trajectory. The simulation results show that the trajectory controller based on the model predictive control can track the vehicle trajectory quickly and stably.