تقرير
Robust Trajectory Tracking Error Model-Based Predictive Control for Unmanned Ground Vehicles
العنوان: | Robust Trajectory Tracking Error Model-Based Predictive Control for Unmanned Ground Vehicles |
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المؤلفون: | Kayacan, Erkan, Ramon, Herman, Saeys, Wouter |
المصدر: | IEEE/ASME Transactions on Mechatronics, Volume 21, Issue 2, 2016 |
سنة النشر: | 2021 |
المجموعة: | Computer Science |
مصطلحات موضوعية: | Computer Science - Robotics, Electrical Engineering and Systems Science - Systems and Control |
الوصف: | 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. |
نوع الوثيقة: | Working Paper |
DOI: | 10.1109/TMECH.2015.2492984 |
URL الوصول: | http://arxiv.org/abs/2103.16782 |
رقم الأكسشن: | edsarx.2103.16782 |
قاعدة البيانات: | arXiv |
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