Trajectory tracking for wheeled mobile robots via model predictive control with softening constraints (Q7036036)
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scientific article; zbMATH DE number 7976089
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| English | Trajectory tracking for wheeled mobile robots via model predictive control with softening constraints |
scientific article; zbMATH DE number 7976089 |
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Trajectory tracking for wheeled mobile robots via model predictive control with softening constraints (English)
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28 January 2025
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mobile robots
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trajectory control
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predictive control
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linearisation techniques
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feedforward
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feedback
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numerical analysis
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trajectory tracking
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model predictive control
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softening constraints
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nonholonomic wheeled mobile robot
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external disturbances
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real-time robustness
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linearised tracking error model
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system behaviour prediction
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feedforward controller
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feedback controller
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control increment constraints
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numerical simulations
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