Journal of Control Science and Engineering

Research Article

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

Table 4

Model predictive control weighting matrices parameters for   = 30 ms−1.
Control manoeuvres2DoF3DoF
2WS  = 30 ms−1, μ  = 0.7  = 0.1,   = 0.03  = 0.1,   = 0.03
  = 5.65,   = 0.5  = 3.55,   = 0.5
  = 30 ms−1, μ  = 0.1  = 0.1,   = 0.03  = 0.1,   = 0.03
  = 0.083,   = 0.042  = 0.03,   = 0.45
4WS  = 30 ms−1, μ  = 0.7  = 0.1,   = 0.03  = 0.1,   = 0.03
  = 0.1,   = 0.03  = 0.1,   = 0.03
  = 1.55,   = 2.5  = 1.35,   = 3.5
  = 30 ms−1, μ  = 0.1  = 0.1,   = 0.03  = 0.1,   = 0.03
  = 0.1,   = 0.03  = 0.1,   = 0.03
  = 0.005,   = 0.001  = 0.04,   = 0.5
2WS
+ DYC		  = 30 ms−1, μ  = 0.7  = 0.1,   = 0.03  = 0.1,   = 0.03
  = 0.1,   = 0.03  = 0.1,   = 0.03
  = 5.05,   = 0.5  = 3.5,   = 0.5
  = 30 ms−1, μ  = 0.1  = 0.1,   = 0.03  = 0.1,   = 0.03
  = 0.1,   = 0.03  = 0.1,   = 0.03
  = 0.092,   = 0.04  = 0.5,   = 2.5