Optimal Tracking Control of a Micro Ground Vehicle
2015 ◽
Vol 27
(6)
◽
pp. 653-659
◽
Keyword(s):
<div class=""abs_img""><img src=""[disp_template_path]/JRM/abst-image/00270006/07.jpg"" width=""300"" /> Coordinate system of MGV</div>This paper investigates the application of optimal micro ground vehicle (MGV) control involving overall tracking by model-predictive control (MPC) during a minimum-time maneuver. The MPC’s reference trajectory is obtained beforehand by numerically calculating an optimal control problem described as a minimum-time maneuver. Results provide nominal tracking performance and confirm the feasibility of our approach.
2017 ◽
Vol 29
(4)
◽
pp. 757-765
◽
2007 ◽
Vol 2007
◽
pp. 1-10
◽
2021 ◽
pp. 014233122110073