Research on Trajectory Tracking Control of 4WID High Ground Sprayer Based on Adaptive Weight Coefficient MPC

Traditional Model Predictive Control (MPC) trajectory tracking control algorithm considering the road curvature information rarely, poor adaptability to the environment. In order to solve the track tracking accuracy of the sprayer in the complex field environment, an adaptive weight coefficient based MPC track tracking control strategy was proposed. The linear time-varying MPC controller was established based on the kinematic model and model predictive control theory of the high ground sprayer, and the front wheel Angle was solved. Finally, the fuzzy MPC controller is designed according to the actual field conditions. The simulation and experimental results indicate that compared with the traditional model prediction controller, the adaptive weight coefficient MPC has better trajectory tracking effect and smaller lateral error, which has certain practical significance.