Distributed nonlinear model predictive control of an autonomous tractor–trailer system

This paper addresses the trajectory tracking problem of an autonomous tractor–trailer system by using a fast distributed nonlinear model predictive control algorithm in combination with nonlinear moving horizon estimation for the state and parameter estimation in which constraints on the inputs and the states can be incorporated. The proposed control algorithm is capable of driving the tractor–trailer system to any desired trajectory ensuring high control accuracy and robustness against environmental disturbances.