A robust optimal preview control method is presented in this paper for path tracking control problems to improve robustness and tracking precision of path tracking control systems. The known path information is used as reference input signals. Simulation results show that this method is valid not only for improving the performance of highly accurate trajectory control but also for improving system stabilization.
MoranA.MikamiY.HayaseM.Analysis and design of H∞ preview tacking control systems. In Proceedings of the 4th International Workshop onAdvanced Motion Control, Japan, 1996, Vol. 2, pp. 482–487.
2.
HacA.YounI.Optimal semi-active suspension with preview based on a quarter car model. In Proceedings of the American Control Conference, Boston, Massachusetts, June 1991.
3.
PengH.TomizukaM.Preview control for vehicle lateral guidance in highway automation. Trans. ASME, J. Dynamic Systems, Measmt and Control, 1993, 115 (4), 679–686.
4.
MianzoL.PengH.LQ and H∞ preview control for a durability simulator. In Proceedings of the American Conference, Albuquerque, New Mexico, 1997, pp. 699–703.
5.
MianzoL.PengH.A unified framework for LQ and H∞ preview control algorithms. In Proceedings of the 37th IEEE Conference onDecision and Control, Tampa, Florida, 1998, pp. 2816–2821.
6.
TomizukaM.Model based prediction, preview and robust controls in motion control systems. In Proceedings of the 4th International Workshop onAdvanced Motion Control, Japan, 1996, Vol. 1, pp. 1–6.
7.
ChenJ.RenZ.HaraS.QiuL.Optimal tracking performance: Preview control and exponential signals. IEEE Trans. Autom. Control, 2001, 46 (10), 1647–1653.
8.
ChuJ.YuL.SuH. Y.Theory and Applications of Robust Control (in Chinese), 2000 (Zhejiang University Publication Company, Hangzhou, PR China).
9.
TsuchiyaT.EgamiT.Digital Preview Control for New Automation Control Technology (in Chinese), 1994 (Beijing Science Technology Publishing Company, Beijing, PR China).
10.
TanY. G.EgamiT.X-Y coordinate plane position harmony optimal preview control (in Chinese). Trans. Wuhan Univ. Technol., 1998, 20 (3), 80–84.
