Comparative Study of Trajectory Tracking Control for Automated Ground Vehicles via Model Predictive Control and Robust H-infinity State Feedback Control
Abstract:A comparative study of longitudinal and lateral control maneuverer in model predictive control (MPC) schemes and robust state feedback control (RSC) method for trajectory tracking of automated ground vehicles (AGVs) is presented in this paper. Both MPC-based and RSC-based tracking controller are designed on the same basis of longitudinal-lateral-yaw motions of a single-track vehicle model. The main objective is to compare the controllers’ performance of tracking accuracy of path and velocity under different t… Show more
Set email alert for when this publication receives citations?
scite is a Brooklyn-based organization that helps researchers better discover and understand research articles through Smart Citations–citations that display the context of the citation and describe whether the article provides supporting or contrasting evidence. scite is used by students and researchers from around the world and is funded in part by the National Science Foundation and the National Institute on Drug Abuse of the National Institutes of Health.