In recent years, there has been growing interest in autonomous driving technology for various types of vehicles, with the aim of reducing the burden on drivers. In this study, we address the problem of control system design for trajectory tracking of an articulated vehicle, consisting of a tractor and a trailer, using front-wheel steering input. We propose an autonomous driving control method for such articulated vehicles based on an optimal feedback control approach known as Model Predictive Control (MPC). MPC, also known as receding horizon control, is a well-established control method in which the current control input is obtained by solving a finite horizon open-loop optimal control problem using the current state of the system as the initial state. MPC is considered to be one of the most successful control methodologies because it enables control performance to be optimized while taking into account constraints on state and control variables. We aim to validate the effectiveness of the proposed method through numerical simulations.
Hara et al. (Wed,) studied this question.