Linear-quadratic Robust Path Tracking for a Dubins Vehicle

Previous theoretical results on a robust linear tracking are applied to a practical problem of trajectory tracking by a Dubins' ground vehicle. The tracking control is constructed as the optimal strategy in an auxiliary linearquadratic control problem for a linearized vehicle model. Numerical and experimental results are presented and compared. Practical improvements are proposed to circumvent real world problems such as non-ideal dynamics and control saturation. Robustness of tracking method in presence of disturbances is also shown experimentally.