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

DOI10.1016/j.jfranklin.2024.106660MaRDI QIDQ6202511

No author found.

Publication date: 26 March 2024

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

zbMATH Keywords

robust controllinear quadratic regulatortrajectory trackingunmanned ground vehicle (UGV)

Mathematics Subject Classification ID

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

Cites Work

• RAMSETE. Articulated and mobile robotics for services and technologies
• Examples when nonlinear model predictive control is nonrobust
• 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
• Nonlinear adaptive tracking for ground vehicles in the presence of lateral wind disturbance and parameter variations

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