Comparative Analysis of Trajectory Tracking Control for Intelligent Mobile Platforms Based on MPC and Nonlinear Control Algorithms
With the incessant progression of economy and technology,intelligent mobile platforms have been extensively deployed in numerous fields such as industry,agriculture,and military.Prevalent trajectory tracking control algorithms include model predictive control(MPC)and model-based nonlinear control algorithms.Both algorithms possess their advantages and have achieved commendable performance.This paper takes the intelligent mobile platform with Ackerman steering model as the research object.It designs the model predictive controller and nonlinear controller re-spectively,and conducts a simulation comparison from the perspectives of circular trajectory tracking and mobile obstacle avoidance effects.The paper gives the applicable conditions of the two common algorithms with the aim of providing in-sights and guidance for subsequent related study.
Intelligent mobile platformsTrajectory trackingModel predictive controlNonlinear control
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