Cooperative transportation control by using internal model control design and LQ control

Robust properties of a control method by combining internal model control and LQ control (IMC-LQ control) are proposed in this paper. The method is applied to cooperative transportation control by two vehicles without explicit communication. By using the IMC-LQ control method, the controlled object achieves good tracking performance against disturbance and modeling error. Effectiveness of the proposed method is confirmed by cooperative experiments.

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