PROJECT TITLE :

Robust Trajectory Tracking Error Model-Based Predictive Control for Unmanned Ground Vehicles

ABSTRACT:

This paper proposes a new sturdy trajectory tracking error-based management approach for unmanned ground vehicles. A trajectory tracking error-based mostly model is used to style a linear model predictive controller and its control action is combined with feedforward and sturdy management actions. The experimental results show that the proposed control structure is capable to let a tractor-trailer system track each linear and curvilinear target trajectories with low tracking error.