Dynamics model-based MPC trajectory tracking algorithm for unmanned vehicles and carsim+matlab co-simulation study notes

catalogs 1 Model derivation and algorithm analysis 1.1 Model derivation 1.1.1 Vehicle dynamics model 1.1.2 Linear time-varying prediction model derivation 1.2 Model Predictive Controller Design 1.2.1 Objective function design 1.2.2 Binding design 2 Code Parsing 2.1 Template framework 2.1.1 S-Function 2.1.2 mdlInitializeSizes function 2.1.3 mdlUpdates() function 2.1.4 mdlOutputs() function 2.2 MPC Algorithm Body Jacobi matrix a […]