Open access
Sep 2026
Trajectory Tracking Control for Unmanned Vehicle Based on Nonlinear MPC in Structured Urban Roads
In this paper, a trajectory tracking control strategy is investigated for unmanned vehicles operating on structured urban roads under multiple constraints. A hierarchical control framework is developed to coordinate lateral steering and longitudinal velocity for accurate trajectory tracking. For the lateral layer, a no...
Ya-Dong Shen, Jing-Jing Yan, Li-Xiang Shi et al.
· Vehicles · 0 citations