Trajectory Tracking Control of Autonomous Vehicle with Double Layer Controller

Aiming at improving the yaw stability of unmanned ground vehicles during high-speed steering, a double layer control architecture based on feedback linearization and model predictive control is proposed. The upper controller uses the model predictive control algorithm and the lower controller uses the feedback linearization method. This architecture makes full use of the performance advantages of the two controllers and improves the accuracy of the controller model and the path tracking performance while ensuring the real-time performance of the calculation. Finally, the effectiveness of this control framework is verified by the joint simulation of MATLAB/Simulink and CarSim, which proves that the performance of this controller is higher than that of the single-layer dynamic MPC controller.