Trajectory tracking control method, device and equipment of unmanned mine car and storage medium

The invention belongs to the technical field of unmanned driving, and discloses a trajectory tracking control method, device and equipment for an unmanned mine car and a storage medium. The method comprises the following steps: establishing a trajectory tracking error model of the unmanned mine car, discretizing the model, confronting the delay of an actuator by setting a course angle preview distance, determining a course angle error after preview so as to construct a target state variable, and determining a gain coefficient by adopting a TS fuzzy model, determining a Q weight matrix and an R weight matrix after gaining according to the transverse error and the road curvature, realizing real-time matrix transformation, determining an optimal feedback control sequence according to the Q weight matrix, the R weight matrix and the discretized state space model, determining a target control quantity according to the optimal feedback control sequence and a target state variable, and realizing real-time matrix tra