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Trajectory Planning Method for tractor-trailer system Based on Nonlinear Model Predictive Control

Trajectory Planning Method for Tractor-trailer System Based ...

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第43届中国控制会议

作者： Bobo Jia Liang Gao Daiwei Li Yi Yang Mengyin Fu Shanshan Xie National Key Lab of Autonomous Intelligent Unmanned systems Beijing Institute of Technology School of Automation Nanjing University of Science and Technology

The tractor-trailer system has the characteristics of high state dimension,complex constraints and poor internal stability in trajectory ***,this paper proposed a trajectory planning method for tractor-trailer system based on nonlinear model predictive control(NMPC) in static and dynamic ***,an NMPC optimization problem is formulated by constructing performance indicators and integrating the constraints of the ***,an approximate optimal path is found as a reference solution for the warm start of the optimization problem by RRT* sampling in high dimensional state ***,the NMPC problem is solved by Optimization Engine(OpEn) ***,simulation in different scenarios demonstrated the effectiveness and efficiency of the proposed method.

关键词： tractor-trailer system Trajectory Planning Nonlinear Model Predictive Control

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Path Tracking Control for Backing-up tractor-trailer system via Model Predictive Control

Path Tracking Control for Backing-up Tractor-Trailer System ...

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第24届中国控制与决策会议

作者： Taehyun SHIM Department of Mechanical Engineering University of Michigan-DearbornDearborn MI 48128 USA

In order to implement the accurate path tracking control for the backing-up tractor-trailer system with off-axle hitching, a new control framework relying on mixed logical dynamics （MLD） hybrid modeling and model predictive control （MPC） method is presented in this paper. At first, a MLD hybrid model is proposed to describe the open-loop kinematic of the tractor-trailer system. For the resulting MLD model, an extended cost function defined as a quadratic form is addressed, in which the steering angle of the tractor, as well as two errors combining the position and the orientation of the trailer are considered. To minimize the tracking error of the trailer, and smooth the steering angle behavior of the tractor, an equivalent linear quadratic tracking problem is presented. Then, a receding horizon finite-time optimal controller is designed, by employing multi-parametric mixed-integer quadratic programming （mp-MIQP） technique. Finally, the controller performance is evaluated through simulation, and achieves closed-loop system asymptotical stability, accurate tracking performance and constraint fulfillment properties, even under the case of non-smooth tracking reference path.

关键词： tractor-trailer system Path Tracking Model Predictive Control Mixed Logical Dynamics

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