Trajectory Tracking Control of Automatic Guided Soft Target Vehicle Based on MPC

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Abstract
Automatic guidance soft target vehicle is widely used in intelligent vehicle active safety test., and trajectory tracking is its main function. By analyzing the high speed working condition and path tracking of soft guided vehicle., the objective function was established., the tracking error model and model constraint conditions were designed., and the trajectory tracking controller based on MPC was established. Finally, the Carsim-Simulink co-simulation platform was constructed. By importing vehicle parameters into Carsim software., and using s-function function in matlab software to create model predictive control code. The simulation results show that the trajectory tracking controller has good tracking effect.