Jiarui Song

Isolating Trajectory Tracking From Motion Control: A Model Predictive Control and Robust Control Framework for Unmanned Ground Vehicles

This letter studies the trajectory tracking and motion control problems of unmanned ground vehicles (UGVs). A model predictive control and robust control (MPC-RC) framework for UGVs is proposed to improve tracking accuracy, yaw stability and robustness in a modular fashion without introducing comple