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JRM Vol.27 No.6 pp. 653-659
doi: 10.20965/jrm.2015.p0653
(2015)

Paper:

Optimal Tracking Control of a Micro Ground Vehicle

Soichiro Watanabe and Masanori Harada

National Defense Academy of Japan
1-10-20 Hashirimizu, Yokosuka, Kanagawa 239-8686, Japan

Received:
June 19, 2015
Accepted:
October 12, 2015
Published:
December 20, 2015
Keywords:
optimal control, MGV, trajectory
Abstract
Coordinate system of MGV

This paper investigates the application of optimal micro ground vehicle (MGV) control involving overall tracking by model-predictive control (MPC) during a minimum-time maneuver. The MPC’s reference trajectory is obtained beforehand by numerically calculating an optimal control problem described as a minimum-time maneuver. Results provide nominal tracking performance and confirm the feasibility of our approach.

Cite this article as:
S. Watanabe and M. Harada, “Optimal Tracking Control of a Micro Ground Vehicle,” J. Robot. Mechatron., Vol.27, No.6, pp. 653-659, 2015.
Data files:
References
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Last updated on Nov. 15, 2018