2024
DOI: 10.21203/rs.3.rs-3858747/v1
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Efficient Nonlinear Model Predictive and Active Disturbance Rejection Control for Trajectory Tracking of Unmanned Vehicles

Hongwei Wang,
Chenyu Liu,
Qingqing Zhang
et al.

Abstract: This article proposes an efficient trajectory tracking control strategy of unmanned vehicles. The method is based on nonlinear model predictive control (NMPC) and active disturbance reject control (ADRC). The designed control algorithm considers three challenges including nonlinear characteristics, multiple constraints and external disturbance. First, NMPC method is presented for the nonlinear vehicle model with multiple constraints. To relax inequality constraints and reduce the heavy calculation burden, the … Show more

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