Journal of Control Science and Engineering

Research Article

Study of Model Predictive Control for Path-Following Autonomous Ground Vehicle Control under Crosswind Effect

Table 3

Model predictive control weighting matrices parameters for   = 10 ms−1.
Control manoeuvres2DoF3DoF
2WS  = 10 ms−1,   = 0.7  = 0.1,   = 0.03  = 0.1,   = 0.03
  = 1.95,   = 0.5  = 5.25,   = 0.5
  = 10 ms−1,   = 0.1  = 0.1,   = 0.03  = 0.1,   = 0.03
  = 1.52,   = 0.5  = 3.95,   = 0.5
4WS  = 10 ms−1,   = 0.7  = 0.1,   = 0.03  = 0.1,   = 0.03
  = 0.1,   = 0.03  = 0.1,   = 0.03
  = 1.95,   = 0.5  = 4.5,   = 0.5
  = 10 ms−1,   = 0.1  = 0.1,   = 0.03  = 0.1,   = 0.03
  = 0.1,   = 0.03  = 0.1,   = 0.03
  = 1.53,   = 0.5  = 3.5,   = 0.5
2WS + DYC  = 10 ms−1,   = 0.7  = 0.1,   = 0.03  = 0.1,   = 0.03
  = 0.1,   = 0.03  = 0.1,   = 0.03
  = 1.93,   = 0.5  = 3.7,   = 0.5
  = 10 ms−1,   = 0.1  = 0.1,   = 0.03  = 0.1,   = 0.03
  = 0.1,   = 0.03  = 0.1,   = 0.03
  = 1.52,   = 0.5  = 3.5,   = 0.5