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


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

June 19, 2015
October 12, 2015
December 20, 2015
optimal control, MGV, trajectory
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.
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Last updated on Nov. 16, 2018