Distributed nonlinear model predictive control of an autonomous tractor-trailer system

被引：73

作者：

Kayacan, Erkan ^{[1
]}

Kayacan, Erdal ^{[2
]}

Ramon, Herman ^{[1
]}

Saeys, Wouter ^{[1
]}

机构：

[1] Univ Leuven KU Leuven, Dept Biosyst BIOSYST, Div Mech Biostat & Sensors MeBioS, B-3001 Leuven, Belgium

[2] Nanyang Technol Univ, Sch Mech & Aerosp Engn, Singapore 639798, Singapore

来源：

MECHATRONICS | 2014年 / 24卷 / 08期

关键词：

Agricultural robot; Tractor-trailer system; Autonomous vehicle; Distributed nonlinear model predictive control; Nonlinear moving horizon estimation; RECEDING HORIZON CONTROL; MPC; OPTIMIZATION;

D O I：

10.1016/j.mechatronics.2014.03.007

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper addresses the trajectory tracking problem of an autonomous tractor-trailer system by using a fast distributed nonlinear model predictive control algorithm in combination with nonlinear moving horizon estimation for the state and parameter estimation in which constraints on the inputs and the states can be incorporated. The proposed control algorithm is capable of driving the tractor-trailer system to any desired trajectory ensuring high control accuracy and robustness against environmental disturbances. (C) 2014 Elsevier Ltd. All rights reserved.

引用

页码：926 / 933

页数：8

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