Nonlinear Dynamics based Trajectory Tracking Robust Control of Unmanned Ground Vehicle
2022 6th CAA International Conference on Vehicular Control and Intelligence (CVCI)(2022)
摘要
This paper investigates the issue of unmanned ground vehicles (UGVs) trajectory tracking. A model predictive control and nonlinear dynamics-based robust control (MPC-NDRC) framework is suggested for UGV to improve trajectory tracking performance. The MPC-NDRC framework is divided into two phases. Building a predictive model controller is the first step in preventing the issue of poor real-time performance brought on by online computing complex models. The creation of a robust nonlinear dynamics-based controller is the second step in ensuring the performance of trajectory tracking and controller model accuracy. Additionally, by designing the system's poles with a stability margin, the system's robust stability is ensured. The Lyapunov theorem establishes the sufficient condition for closed-loop system stability. The MATLAB-Carsim platform's simulation results show the proposed MPC-NDRC framework considerably improves trajectory tracking performance.
更多查看译文
关键词
Unmanned ground vehicles,trajectory tracking,model predictive control,robust control,MATLAB/Simulink-Carsim
AI 理解论文
溯源树
样例
生成溯源树,研究论文发展脉络
Chat Paper
正在生成论文摘要