Non-time referenced tracking control with application in unmanned vehicle

Abstract

A new design method for non-time based tracking controller is presented. The key step is the introduction of a motion reference variable, based on the desired and measurable system output. It enables the construction of control systems with integrated planning capability, in which planning becomes real-time closed-loop process. The control system is capable of coping with unexpected events and uncertainties. The new design method converts a controller designed by traditional time-based approach to a new controller with respect to a non-time based action reference. The design method is exemplified by a unmanned vehicle tracking control problem.