Optimal Tracking Control of a Micro Ground Vehicle | Zendy

Soichiro Watanabe | Zendy; Masanori Harada | Zendy

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Optimal Tracking Control of a Micro Ground Vehicle

Author(s) -

Soichiro Watanabe,

Masanori Harada

Publication year - 2015

Publication title -

journal of robotics and mechatronics

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.257

H-Index - 19

eISSN - 1883-8049

pISSN - 0915-3942

DOI - 10.20965/jrm.2015.p0653

Subject(s) - tracking (education) , control theory (sociology) , model predictive control , trajectory , optimal control , control (management) , computer science , mathematics , mathematical optimization , artificial intelligence , physics , psychology , pedagogy , astronomy

Coordinate system of MGV 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.

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