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

03/31/2021

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by   Erkan Kayacan, et al.

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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.