Abstract:In this paper, a trajectory tracking controller based on linear time-varying model prediction is developed, and the model predictive control theory based on the six degrees of freedom dynamic model and tire model is applied. Combined with the soft constraint of turning angle and the control algorithm to ensure the stability, the trajectory tracking is realized. The terminal node is a wearable device. The terminal node is equipped with a pressure sensor and attitude sensor network to collect human data, and the… Show more
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