Path tracking by a dubins vehicle in the presence of disturbance

Previous theoretical results on robust linear tracking are applied to a practical path tracking problem for a ground vehicle modeled as a Dubins vehicle model. The tracking control is designed based on the optimal strategy in an auxiliary linear-quadratic differential game for a linearized vehicle model. In contrast with a purified theoretic setup, the real-life problem is complicated by a non-constant speed and control saturation. This required additional design block for speed tracking loop based on similar tracking algorithms. The saturation effect is taken into account by using a command reinforcement. The experimental valida- tion of theoretical results is presented and robustness with respect to unknown disturbance is demonstrated.