Robust Trajectory Tracking Error Model-Based Predictive Control for Unmanned Ground Vehicles
This addresses precise control for unmanned ground vehicles, but it appears incremental as it combines existing methods like MPC with feedforward and robust actions.
The paper tackled trajectory tracking for unmanned ground vehicles by proposing a robust error-based model predictive control approach, achieving low tracking error in experiments for a tractor-trailer system on linear and curvilinear paths.
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.