A simplified trajectory tracking control based on linear design for skid-steered wheeled UGVs

DOI10.1016/J.JFRANKLIN.2024.106660MaRDI QIDQ6202511zbMATH OpenWikidataFDO

Authors

Publication date 26 March 2024

Published in Journal of the Franklin Institute (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1016/J.JFRANKLIN.2024.106660

zbMATH Keywords

linear quadratic regulatorrobust controltrajectory trackingunmanned ground vehicle (UGV)

Mathematics Subject Classification ID

Sensitivity (robustness) (93B35) Automated systems (robots, etc.) in control theory (93C85) Robust stability (93D09)

Recommendations

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Cites work

• Examples when nonlinear model predictive control is nonrobust
• Nonlinear adaptive tracking for ground vehicles in the presence of lateral wind disturbance and parameter variations
• RAMSETE. Articulated and mobile robotics for services and technologies
• Tracking control of mobile robots: A case study in backstepping
• Trajectory tracking of an autonomous vehicle using immersion and invariance control
• Varying zonotopic tube RMPC with switching logic for lateral path tracking of autonomous vehicle

Cited in

(2)

• Finite-time trajectory tracking control for unmanned ground vehicle based on finite-time disturbance observer
• Soft trajectory tracking control for wheeled unmanned ground vehicles under uncertain slippage conditions

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