Multi-Reference Path Tracking Control for an Agricultural Tractor with Nonlinear Model Predictive Control
This study developed an advanced path tracking controller for agricultural tractors using Nonlinear Model Predictive Control (NMPC). The controller incorporates multiple segments of a piecewise-linear reference path directly into its cost function. This extension improves the system's ability to track curved paths by using multi-reference predictions, leading to high accuracy in real-world testing.