Name
Title | ||
|---|---|---|
Model Predictive Tracking Control of Nonholonomic Mobile Robots With Coupled Input Constraints and Unknown Dynamics |
Abstract | ||
|---|---|---|
This paper addresses a trajectory-tracking control problem for mobile robots by combining tube-based model predictive control (MPC) in handling kinematic constraints and adaptive control in handling dynamic constraints. In order to handle kinematic constraints, the tube-based MPC scheme is introduced, which includes the state feedback controller to suppress the external disturbance in the velocity... |
Year | DOI | Venue |
|---|---|---|
2019 | 10.1109/TII.2018.2874182 | IEEE Transactions on Industrial Informatics |
Keywords | Field | DocType |
Mobile robots,Kinematics,Adaptation models,Nuclear magnetic resonance,Vehicle dynamics,Actuators | Lyapunov function,Control theory,Optimal control,Full state feedback,Computer science,Model predictive control,Control engineering,Adaptive control,Quadratic programming,Mobile robot | Journal |
Volume | Issue | ISSN |
15 | 6 | 1551-3203 |
Citations | PageRank | References |
7 | 0.46 | 0 |
Authors | ||
4 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| yao chen | 1 | 24 | 9.82 |
| Zhijun Li | 2 | 939 | 91.73 |
| Haiyi Kong | 3 | 7 | 1.47 |
| Fan Ke | 4 | 7 | 0.46 |