Model predictive path-following control for truck–trailer systems with specific guidance points — design and experimental validation

Abstract

This article presents an experimental validation of a model predictive path-following control algorithm (PF-MPC ) applied to a truck–trailer system, encompassing both forward and backward motions. The proposed controller is designed to precisely follow a predefined path generated by a path planner, with a designated guidance point positioned on either the truck or the trailer. The algorithm’s performance is assessed through implementation and validation on a model-scaled truck–trailer system, where MPC, state estimation, and low-level control are executed on a microcontroller (MCU ). The experimental results demonstrate the effectiveness of the proposed control approach in achieving highly accurate path-following performance, even when operating in the challenging context of unstable backward motion, and with the involvement of up to two trailers. Moreover, the successful implementation of the algorithm on a microcontroller underscores its suitability for real-time control applications. The results of this study collectively highlight the promising potential of the proposed control algorithm for practical utilization in autonomous driving systems.