Research on Trajectory Tracking Method Of Unmanned Tracked Vehicle Based on MPC
In order to improve the accuracy and adaptability of the trajectory tracking control of unmanned tracked vehicles,a feedforward model predictive control method considering the real-time state of is designed.Firstly,the ki-nematic model of tracked vehicle considering sliding parameters is established.Then,the sliding parameter is regarded as the control disturbance,and the trajectory tracking control error model is established by introducing the trajectory tracking error vector angle parameter.On this basis,the feedforward model predictive controller is designed.Finally,through the steering force analysis method of the tracked vehicle,the sliding parameter off-line look-up table model is established,and the model predictive controller is feedforward compensated to improve the accuracy and adaptability of the control.The performance of the control method is verified by simulation experiments.The results show that the proposed control method can effectively improve the accuracy and adaptability of unmanned tracked ve-hicle trajectory tracking control.
Tracked vehicleTrajectory trackingFeedforward compensationModel predictive control
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