轮式差速转向车辆轨迹跟踪模型预测控制方法

Trajectory Tracking Model Predictive Control Method for Wheeled Differential Steering Vehicles

摘要: 针对全地形轮式差速转向车辆，设计了基于改进模型预测控制算法的轨迹跟踪控制器。首先对差速转向车辆的运动学和动力学进行分析，建立MPC轨迹跟踪误差模型；然后以实际跟踪误差为依据，设计控制器权重系数调节方法，对MPC的状态量矩阵权重和控制量矩阵权重进行动态调节；最后通过仿真实验对改进轨迹跟踪算法性能进行验证。仿真结果表明，相比经典MPC方法，改进算法对参考轨迹的横向跟踪误差降低35.3%，航向跟踪误差降低3%，跟踪精度有较大提高。

Abstract: A trajectory tracking controller based on an improved model predictive control algorithm is de-signed for all-terrain wheeled differential steering vehicles. Firstly, the kinematics and dynamics of differential steering vehicles are analyzed, and the MPC trajectory tracking error model is es-tablished. Then, according to the actual tracking error, the controller weight coefficient adjust-ment method is designed to dynamically adjust the MPC state quantity matrix weight and control quantity matrix weight. Finally, the performance of the improved trajectory tracking algorithm is verified by simulation experiments. The simulation results show that compared with the classical MPC method, the lateral tracking error of the reference trajectory is reduced by 35.3%, the course tracking error is reduced by 3%, and the tracking accuracy is greatly improved.