All-Wheel Steering Path Tracking Control for Multi-Axle Vehicle Based on Adaptive MPC

This paper provides an adaptive path tracking control method for an autonomous multi-axle vehicle capable of all-wheel steering. Firstly, a linear time-invariant vehicle dynamic control model is proposed for the control prediction and state updating, which controls two-axle steering angle. To enhance the robustness of the controller under different vehicle speeds, fuzzy control is integrated into the weight adaptive adjustment mechanism of the MPC controller. Moreover, the problem of driving stability caused by the steering angle oscillation when the weights are unbalanced is solved. It is mainly realized by adaptively adjust the constraint range of steering increment. Finally, a comparative simulation test is carried out to verify the tracking performance, which shows the proposed approach has excellent adaptability to various operating conditions, ensuring both high tracking accuracy and robust driving stability.