Robust model predictive kinematic tracking control with terminal region for wheeled robotic systems

This paper addresses the nonlinear model predictive control (MPC) for wheeled mobile robots (WMRs) under external disturbance. The decoupling technique is utilized based on the non-holonomic constraint description for separating the WMR model. This method is able to achieve the under-actuated kinema...

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Autores principales: Phuong Nam Dao, Hong Quang Nguyen
Formato: article
Lenguaje:EN
Publicado: Taylor & Francis Group 2021
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Acceso en línea:https://doaj.org/article/fbff5ac67a9b4b318e49846491edd29f
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