A reference governor for reducing path tracking error of mobile platform

This paper proposed a design of reference governor for a mobile platform. To follow given time path by a mobile platform, it is a practical subject how to cope with the disturbances and limitation on the control plant. Proposed method is to adjust iteratively the control reference based on time scaling approach for a mobile platform. By introducing proposed reference governor, path tracking error can be reduced in case of that the disturbances occur during traveling. For verification of our proposed method, computer simulations were conducted.