Centralized, decentralized and distributed nonlinear model predictive control of a tractor-trailer system: A comparative study

This paper presents centralized, decentralized and distributed nonlinear model predictive controllers design for a tractor-trailer system. Several comparisons are made in terms of their performances and computation time. The experimental results show that the centralized nonlinear model predictive controller has ability to let a tractor-trailer system follow trajectories with the lowest tracking error, while the decentralized one has the lowest computation time.