A new explicit dynamic path tracking controller using generalized predictive control

Abstract

Outdoor mobile robots must perform operations with ever-increasing speed and distance. Therefore we are interested in designing controllers of fast rovers which improve mobile robot capacity in natural environment. When designing autonomous path tracking systems for fast rovers, a major problem is the dynamic effect and the non-linearity of the model. Several control laws have been designed to resolve the problem by separating the dynamic of the robot at the problem of trajectory tracking.