Model Predictive Control of Unmanned Mine Vehicle Trajectory Tracking

Unmanned mine vehicle driving technology is a significant part of smart mining research. This paper proposes a model predictive control strategy for the planning path trajectory tracking problem of unmanned mine vehicles during mining and transportation. Firstly, we construct an optimized function with soft constraints. Secondly, the terminal equation constraint is introduced to design model predictive control optimization problem, thereby transforming the trajectory tracking problem of the unmanned mine vehicle into the solution of the optimization problem. Then the unmanned mine vehicle trajectory tracking model predictive controller is designed, and the stability of the closed loop system through the Lyapunov stability theory is proved. Finally, a simulation example is used to verify that the terminal equation constraint model predictive controller proposed in this paper has a good tracking effect in the process of unmanned mine vehicle trajectory tracking. The control strategy proposed in this paper has improved the effect of unmanned mine vehicle planning path tracking, and its the following speed and stability are enhanced.