  This paper proposes a new robust trajectory tracking error-based control
approach for unmanned ground vehicles. A trajectory tracking error-based model
is used to design a linear model predictive controller and its control action
is combined with feedforward and robust control actions. The experimental
results show that the proposed control structure is capable to let a
tractor-trailer system track both linear and curvilinear target trajectories
with low tracking error.

Robotics;Systems and Control;Systems and Control