Nonlinear Model Predictive Control for Enhanced Path Tracking and Autonomous Drifting through Direct Yaw Moment Control and Rear-Wheel-Steering.
Gaetano TavoloPietro StanoDavide TaverniniUmberto MontanaroManuela TufoGiovanni FiengoPietro PerloAldo SorniottiPublished in: CoRR (2024)
Keyphrases
- wheeled mobile robots
- trajectory tracking
- closed loop
- dynamic model
- control system
- nonlinear model predictive control
- control method
- image based visual servoing
- sliding mode
- object tracking
- control law
- particle filter
- robotic systems
- real time
- concept drift
- autonomous systems
- head orientation
- reinforcement learning
- three dimensional