I am working on a lateral trajectory tracking controller based on nonlinear vehicle model. I don't know whether the lateral velocity and yaw rate need to be added to the variables in the state transition equation.
Dear Xuekai yu Yu,
I suggest you to see links on topic.
https://ieeexplore.ieee.org/document/7321337
https://ieeexplor.ieee.org/document/9268233
Article Integrated nonlinear model predictive control for automated driving
Article Nonlinear model predictive control and guidance for a propel...
https://www.sae.org/publications/technical-papers/content/2020-01-1400/
Best regards
Dear Xuekai yu Yu
This paer might be useful, have a alook:
1. https://research.tudelft.nl/en/publications/integrated-nonlinear-model-predictive-control-for-automated-drivi
2. https://ieeexplore.ieee.org/document/7321337
3. https://ieeexplore.ieee.org/document/9268233
4. Article Integrated nonlinear model predictive control for automated driving
5. https://www.sciencedirect.com/science/article/pii/S0005109821003101
6. Article Integrated nonlinear model predictive control for automated driving
7. https://www.sae.org/publications/technical-papers/content/2020-01-1400/
8. https://arxiv.org/abs/2105.13038
Kind Regards
Qamar Ul Islam
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