A Model Predictive Control Strategy for Path-Tracking of Autonomous Mobile Robot Using Electromagnetism-Like Mechanism

2010 ◽  
Author(s):  
Wang Yaonan ◽  
Yang Yimin ◽  
Yuan Xiaofang ◽  
Yin Feng ◽  
Wei Shuning
Keyword(s):  
Model Predictive Control ◽  
Mobile Robot ◽  
Predictive Control ◽  
Control Strategy ◽  
Path Tracking ◽  
Autonomous Mobile Robot

Autonomous mobile robot model predictive control

2004 ◽  
Vol 77 (16) ◽  
pp. 1438-1445 ◽  
Author(s):  
B. Kim ◽  
D. Necsulescu * ◽  
J. Sasiadek
Keyword(s):  
Model Predictive Control ◽  
Mobile Robot ◽  
Predictive Control ◽  
Autonomous Mobile Robot

Robust Time-Varying Model Predictive Control with Application to Mobile Robot Unmanned Path Tracking

2014 ◽  
Vol 47 (3) ◽  
pp. 4849-4854 ◽  
Author(s):  
Mitra Bahadorian ◽  
Ray Eaton ◽  
Tim Hesketh ◽  
Borislav Savkovic
Keyword(s):  
Model Predictive Control ◽  
Mobile Robot ◽  
Predictive Control ◽  
Path Tracking ◽  
Time Varying

scholarly journals Trajectory Tracking of an Omni-Directional Wheeled Mobile Robot Using a Model Predictive Control Strategy

2018 ◽  
Vol 8 (2) ◽  
pp. 231 ◽  
Author(s):  
Chengcheng Wang ◽  
Xiaofeng Liu ◽  
Xianqiang Yang ◽  
Fang Hu ◽  
Aimin Jiang ◽  
...  
Keyword(s):  
Model Predictive Control ◽  
Mobile Robot ◽  
Predictive Control ◽  
Trajectory Tracking ◽  
Control Strategy ◽  
Wheeled Mobile Robot

Composite Path Tracking Control for Tractor–Trailer Vehicles Via Constrained Model Predictive Control and Direct Adaptive Fuzzy Techniques

2017 ◽  
Vol 139 (11) ◽  
Author(s):  
Ming Yue ◽  
Xiaoqiang Hou ◽  
Wenbin Hou
Keyword(s):  
Model Predictive Control ◽  
Predictive Control ◽  
Control Strategy ◽  
Tracking Control ◽  
Path Tracking ◽  
Reference Trajectory ◽  
Control Effect ◽  
Adaptive Fuzzy ◽  
Dynamic Controller ◽  
Fuzzy Techniques

Tractor–trailer vehicles will suffer from nonholonomic constraint, uncertain disturbance, and various physical limits, when they perform path tracking maneuver autonomously. This paper presents a composite path tracking control strategy to tackle the various problems arising from not only vehicle kinematic but also dynamic levels via two powerful control techniques. The proposed composite control structure consists of a model predictive control (MPC)-based posture controller and a direct adaptive fuzzy-based dynamic controller, respectively. The former posture controller can make the underactuated trailer midpoint follow an arbitrary reference trajectory given by the earth-fixed frame, as well as satisfying various physical limits. Meanwhile, the latter dynamic controller enables the vehicle velocities to track the desired velocities produced by the former one, and the global asymptotical convergence of dynamic controller is strictly guaranteed in the sense of Lyapunov stability theorem. The simulation results illustrate that the presented control strategy can achieve a coordinated control effect for the sophisticated tractor–trailer vehicles, thereby enhancing their movement performance in complex environments.

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