Trajectory Tracking of Unmanned Ground Vehicle Based on Iterative Learning Model Predictive Control

Chaofang Hu,Lingxue Zhao,Na Wang

doi:10.1007/978-981-15-0474-7_110

Trajectory Tracking of Unmanned Ground Vehicle Based on Iterative Learning Model Predictive Control

Chaofang Hu, Lingxue Zhao + Show 1 more

https://doi.org/10.1007/978-981-15-0474-7_110

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Publication Date: Dec 4, 2019

Affiliation: Tianjin University, Ministry of Education of the People's Republic of China, Tianjin Polytechnic University

#Iterative Learning Model Predictive Control #System Of Unmanned Ground Vehicle + Show 8 more

Abstract
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Abstract

In this paper,Hu, Chaofang an iterative learning model predictive controlZhao, Lingxue (ILMPC) strategy is introduced for theWang, Na trajectory tracking of Unmanned Ground Vehicle (UGV). First, a linear time-varying (LTV) system of UGV is derived from the simplified dynamic vehicle model of UGV by Taylors formula. Second, the constrained ILMPC controller is introduced to solve the trajectory tracking problem, which is described as a QP problem. Finally, a simulation about trajectory tracking of batch process is presented to show the effectiveness of the proposed controller.

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