DNN Koopman-Based Deviation Compensation for UGV Path Tracking Control on Coupled Slope and Potholed Road (opens in new tab)

Unmanned ground vehicles (UGVs) operating in off-road scenarios are confronted with complex terrain disturbances that can substantially degrade path tracking performance. To address this challenge, this paper proposes a deep neural network (DNN) Koopman-based deviation compensation strategy for UGV path tracking control. Firstly, based on the vehicle dynamic function on coupled slope, an adaptive forgetting recursive least squares method with de...