Robust Tube-Based Predictive Control for Visual Servoing of Constrained Differential-Drive Mobile Robots
Sign Up to like & getrecommendations! Published in 2018 at "IEEE Transactions on Industrial Electronics"
DOI: 10.1109/tie.2017.2756595
Abstract: This paper proposes a control strategy for the vision-based control problem of a nonholonomic constrained differential-drive mobile robots with bounded disturbance by using robust tube-based model predictive control (MPC) method. The proposed control strategy mainly… read more here.
Keywords: state; constrained differential; control; differential drive ... See more keywords
Constrained-Differential-Kinematics-Decomposition-Based NMPC for Online Manipulator Control with Low Computational Costs
Sign Up to like & getrecommendations! Published in 2023 at "Robotics"
DOI: 10.3390/robotics12010007
Abstract: Flexibility combined with the ability to consider external constraints comprises the main advantages of nonlinear model predictive control (NMPC). Applied as a motion controller, NMPC enables applications in varying and disturbed environments, but requires time-consuming… read more here.
Keywords: differential kinematics; computational costs; constrained differential; kinematics ... See more keywords