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The trajectory tracking control problem for Wind Turbine Blade Mountain Transporter (WTBMT) is crucial for enhancing transportation efficiency and ensuring safety. These vehicles often navigate unstructured mountain roads, where they are significantly influenced by varying road conditions and external factors. Such influences can lead to perturbations in model parameters, adversely impacting the tracking performance of the controller. To address these challenges, this study proposes a Model Predictive Control (MPC) trajectory tracking method enhanced by a disturbance observer. The proposed controller consists of two main components: disturbance compensation input and optimal MPC control input. A disturbance observer is designed to detect and compensate for disturbances at the control input, while the MPC controller manages the trajectory tracking. The effectiveness of this method has been validated through simulations on the TruckSim and MATLAB/Simulink platforms.

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Trajectory Tracking Control of Wind Turbine Blade Mountain Transporter Based on MPC with Disturbance Observer

  • 会议论文

  • 出版模式：

    开放获取

  • 发表日期：

    2026年

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  • Yahui Zhang,
  • Yuhao Jiang,
  • Xiaohong Jiao,
  • Ting Zhang,
  • Chengye Wu,
  • Mingyang Wang,
  • Yiying Wang,
  • Yuchen Wang

摘要

The trajectory tracking control problem for Wind Turbine Blade Mountain Transporter (WTBMT) is crucial for enhancing transportation efficiency and ensuring safety. These vehicles often navigate unstructured mountain roads, where they are significantly influenced by varying road conditions and external factors. Such influences can lead to perturbations in model parameters, adversely impacting the tracking performance of the controller. To address these challenges, this study proposes a Model Predictive Control (MPC) trajectory tracking method enhanced by a disturbance observer. The proposed controller consists of two main components: disturbance compensation input and optimal MPC control input. A disturbance observer is designed to detect and compensate for disturbances at the control input, while the MPC controller manages the trajectory tracking. The effectiveness of this method has been validated through simulations on the TruckSim and MATLAB/Simulink platforms.