Robust trajectory tracking error model-based predictive control for unmanned ground vehicles

Erkan Kayacan, Herman Ramon, Wouter Saeys

Research output: Contribution to journalArticleScientificpeer-review

101 Citations (Scopus)

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.

Original languageEnglish
Pages (from-to)806-814
JournalIEEE - ASME Transactions on Mechatronics
Volume21
Issue number2
DOIs
Publication statusPublished - 2016

Keywords

  • Agricultural robot
  • Autonomous vehicle
  • Model predictive control
  • Tractor-trailer system
  • Trajectory tracking
  • Unmanned ground vehicle

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