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JRM Vol.29 No.4 pp. 757-765
doi: 10.20965/jrm.2017.p0757
(2017)

Paper:

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

Received:
December 16, 2016
Accepted:
June 12, 2017
Published:
August 20, 2017
Keywords:
optimal control, MGV, trajectory
Abstract
Experimental Study on Optimal Tracking Control of a Micro Ground Vehicle

K-turn maneuver using MPC

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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Last updated on Sep. 19, 2017