An MPC-Based Path-Following Control Algorithm of the Road Train

The paper considers the problem of controlling the movement of a road train along a curved trajectory with an optimal speed, taking into account the restrictions on the control actions and the road train jackknifing angle. We formulated the problem of the road train motion MPC-control. We propose a prediction model and formulas for calculating the reference states and control inputs. The article presents the results of testing the movement of a road train along given trajectories at various values of the reference speed. It is shown that the algorithm provides sufficiently high accuracy of following the trajectory, maintaining the speed close to its reference value. The developed algorithm can be used in the future to develop systems of active driver assistance systems and autonomous road trains.