Dynamic nonlinear model based predictive control for mobile robots
In this paper, a nonlinear predictive controller (NMPC) to control a unicycle-like mobile robot for trajectory tracking has been developed. A dynamic model of a PIONNER 3-DX mobile robot is used, where external forces and wheels sliding have been considered. Restrictions on control actions and syste...
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| Format: | article |
| Idioma: | spa |
| Publicat: |
2009
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| Matèries: | |
| Accés en línia: | http://bibdigital.epn.edu.ec/handle/15000/9354 |
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