Model Predictive Control of Wheeled Mobile Robots
Haris Chowdhry
Broschiertes Buch

Model Predictive Control of Wheeled Mobile Robots

Using Feasible and Non-Feasible Active Set Methods

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Different control techniques can be used to perform trajectory tracking of nonholonomic Wheeled Mobile Robots (WMRs). The application of Model Predictive Control (MPC) for trajectory tracking of WMRs allows for an easy incorporation of input and output constraints that may arise in practical situations. Also, the control effort required to solve the trajectory tracking problem can be minimized in a straightforward manner using the built-in optimization methods in MPC. Computation time is the biggest hurdle in adapting MPC strategies for trajectory tracking. This research applies a non-feasible...