A Review of Research on Trajectory Tracking Control of Unmanned Vehicles

In this paper, taking the trajectory tracking control of unmanned vehicles as the research object, firstly, the vehicle system model required for the trajectory tracking control of unmanned vehicles is analyzed. Then, the design of the trajectory tracking controller commonly used in unmanned vehicles is analyzed. It is found that the vehicle dynamics model commonly used for trajectory tracking control is a monorail model. The selection of Q and R is more important when applying the LQR control algorithm for trajectory tracking control. The pure tracking algorithm has a good trajectory tracking effect in low-speed conditions. Linear time-varying model predictive control has better trajectory tracking than nonlinear model predictive control.