Mobility Investigate

Predictive Constrained Gain Scheduling for UGV Path Tracking in a Networked Control System

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Executive Summary

This paper presents a predictive gain scheduler for path tracking control in a networked control system with variable delay. The controller uses the plant model to predict future position and find the amount of travel possible with the global path as a constraint. Based on variable network conditions and vehicle trajectory's curvature the vehicle is allowed to travel farther on the current control signal while the vehicle trajectory matches the path constraint. This method uses path specific characteristics to evaluate the effectiveness of each generated control signal. By scheduling the gain on the control signal the vehicle tracking performance is maintained with an increase in network delay.

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