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

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 experimen...

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Bibliographic Details
Published inIEEE/ASME transactions on mechatronics Vol. 21; no. 2; pp. 806 - 814
Main Authors Kayacan, Erkan, Ramon, Herman, Saeys, Wouter
Format Journal Article
LanguageEnglish
Published New York IEEE 01.04.2016
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects
Agricultural machinery
agricultural robot
Autonomous vehicle
Control systems
Controllers
Design engineering
Feedforward neural networks
Mathematical model
Mathematical models
Mechatronics
model predictive control
Real-time systems
Tracking
Tracking errors
tractor-trailer system
Trajectories
Trajectory
trajectory tracking
unmanned ground vehicle
Unmanned ground vehicles
model predictive control
autonomous vehicle
Agricultural robot
unmanned ground vehicle
tractor–trailer system
trajectory tracking
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Summary: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.
Bibliography:ObjectType-Article-1
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ISSN:1083-4435
1941-014X
DOI:10.1109/TMECH.2015.2492984