Robust Trajectory Tracking Error-Based Model Predictive Control for Unmanned Ground Vehicles

Robust Trajectory Tracking Error-Based Model Predictive Control for Unmanned Ground  Vehicles

Abstract:

This paper proposes a new robust trajectory tracking error-based control approach for unmanned ground vehicles. A trajectory tracking error-based model is used to design a linear model predictive controller and its control action is combined with feedforward and robust control actions. The experimental results show that the proposed control structure is capable to let a tractor-trailer system track both linear and curvilinear target trajectories with low tracking error.

 


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