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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…
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Keywords:
differential kinematics;
computational costs;
constrained differential;
kinematics ... See more keywords