This paper addresses the trajectory tracking problem of an autonomous tractor-trailer system by using a decentralized control approach. A fully decentralized model predictive controller is designed in which interactions between subsystems are neglected and assumed to be perturbations to each other. In order to have a robust design, a tube-based approach is proposed to handle the differences between the nominal model and real system. Nonlinear moving horizon estimation is used for the state and parameter estimation after each new measurement, and the estimated values are fed to robust tube-based decentralized nonlinear model predictive controller. The proposed control scheme is capable of driving the tractor-trailer system to any desired trajectory ensuring high control accuracy and robustness against neglected subsystem interactions and environmental disturbances. The experimental results show an accurate trajectory tracking performance on a bumpy grass field.

翻译：本文件通过采用分散式控制办法处理自动拖拉机-拖拉机系统的轨迹跟踪问题。设计了一个完全分散式模型预测控制器,在其中忽略了各子系统之间的互动,并假定它们相互扰动。为了设计稳健,建议采用管基方法来处理名义型模型与实际系统之间的差异。在每次新测量后,对状态和参数估计使用非线性移动地平线估计,并将估计值输入强大的管基分散式非线性模型预测控制器。拟议的控制系统能够将拖拉机-拖车系统推向任何预期的轨道,确保高控制准确性和稳健性,防止被忽视的子系统互动和环境扰动。实验结果显示,精确的轨迹跟踪在崎岖的草场上的运行情况。