Path Tracking of Car-Like Vehicles Based on Variable Weight Model Predictive Control

Aiming at the path tracking control of car-like vehicles, the influence of the ratio of displacement error weight to heading error weight on control performance is studied, and a path tracking controller based on variable weight model predictive control is proposed. In the simulation, the proposed controller is compared with the fixed weight path tracking controllers based on model predictive control. The simulation results show that the controller proposed in this paper reduces the maximum displacement error of 82.91% compared with the fixed weight controller with large weight ratio. The residual displacement error of the variable weight controller is Om, which is 0.1370m smaller than the residual displacement error of the fixed weight controller with small weight ratio. The heading error of the proposed controller is also small, and the maximum heading error is 0.0723rad.