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Isolating Trajectory Tracking From Motion Control: A Model Predictive Control and Robust Control Framework for Unmanned Ground Vehicles.
Jiarui Song
Gang Tao
Zheng Zang
Haotian Dong
Boyang Wang
Jianwei Gong
Published in:
IEEE Robotics Autom. Lett. (2023)
Keyphrases
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motion control
control system
model predictive control
trajectory tracking
robot control
mobile robot
path planning
visual servoing
closed loop
control method
neural network
control algorithm
learning rate
physical constraints
recurrent neural networks
dynamic programming
ground vehicles