Path following for a tractor-trailer system using model predictive control

In this paper, an optimal controller is designed for a tractor-trailer system to solve the path tracking problem. A kinematic model with control delay is derived to describe the system. The error state is properly defined based on the curvature of reference path, and a model-based predictive controller (MPC) is proposed to minimize the trailer tracking error. In each sample, the optimal solution based on a cost function with constraints and desired system outputs are calculated. The proposed controller can guide the system forward and backward. Simulation results show that the system performance is very satisfactory, especially significantly reducing the tracking error at the intersections of line and arc segments.