LQR和MPC控制器在泊车路径跟踪应用中的比较研究

A Comparative Study of LQR and MPC Controllers in the Application of Parking Path Tracking

本文对LQR(线性二次调节器)和MPC(模型预测控制器)在自动泊车应用中的性能进行了比较研究。通过使车辆模型在MATLAB环境下完成实验,比较了控制器的控制精度。并介绍了LQR和MPC控制器的用途、优点和局限性。

This article compares the performance of LQR(linear quadratic regulator)and MPC(model predictive controller)in automatic parking applications.By making the vehicle model complete the experiment in the MATLAB environment,the control accuracy of the controller is compared and the use,advantages and limitations of LQR and MPC controllers are also introduced.