Experimental Study on Optimal Tracking Control of a Micro Ground Vehicle
Soichiro Watanabe and Masanori Harada
Graduate School of Science and Engineering, National Defense Academy of Japan
1-10-20 Hashirimizu, Yokosuka, Kanagawa 239-8686, Japan
This paper investigates the application of optimal control to a micro ground vehicle (MGV) experimentally. The model predictive control (MPC) technique is used for the overall tracking controller during the maneuver. The reference trajectory for MPC is preliminarily obtained by numerical computation of the optimal control problem, which is prescribed as a minimum-time maneuver. The results provide nominal tracking performance and validate the feasibility of the approach.
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