NDLI: Robust Model Predictive Control for automated trajectory tracking of an Unmanned Ground Vehicle

Content Provider	IEEE Xplore Digital Library
Author	Bahadorian, M. Savkovic, B. Eaton, R. Hesketh, T.
Copyright Year	2012
Description	Author affiliation: Sch. of Electr. Eng. & Telecommun., Univ. of New South Wales, Sydney, NSW, Australia (Bahadorian, M.; Eaton, R.; Hesketh, T.) \|\| Sch. of Math. & Stat., Univ. of New South Wales, Sydney, NSW, Australia (Savkovic, B.)
Abstract	This work presents a Robust Model Predictive Control (RMPC) approach for trajectory tracking of an Unmanned Ground Vehicle (UGV). In addition to robustness against unknown but bounded disturbances, the controller presented here is also able to deal with constraints on inputs and states due to its formulation as an RMPC. The proposed approach represents an extension of previous Model Predictive Control (MPC) laws based on the concept of constraint restriction (i.e. optimal trajectories via MPC are computed subject to stringent constraints assuming no uncertainty, and a linear local controller ensures that the actual system robustly follows the optimized MPC trajectory). The presented controller carries a low computational complexity overhead, making it attractive for real-time applications. Applying the proposed control approach to the UGV trajectory tracking problem, simulation results demonstrate robust UGV automated trajectory tracking.
Sponsorship	IEEE Control Syst. Soc.
Starting Page	4251
Ending Page	4256
File Size	1586232
Page Count	6
File Format	PDF
ISBN	9781457710957
ISSN	07431619
e-ISBN	9781457710964
e-ISBN	9781467321020
DOI	10.1109/ACC.2012.6315030
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2012-06-27
Publisher Place	Canada
Access Restriction	Subscribed
Rights Holder	American Automatic Control Council(AACC)
Subject Keyword	Trajectory Robustness Equations Uncertainty Mathematical model Bicycles
Content Type	Text
Resource Type	Article
Subject	Electrical and Electronic Engineering

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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