文件名称:
Model Predictive Control of a Mobile Robot Using.rar
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文件大小: 252kb
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上传时间: 2019-08-09
详细说明： Abstract— This paper presents an optimal control scheme for a wheeled mobile robot (WMR) with nonholonomic constraints. It is well known that a WMR with nonholonomic constraints can not be feedback stabilized through continuously differentiable, time-invariant control laws. By using model predictive control (MPC), a discontinuous co ntrol law is naturally obtained. One of the main advantages of MPC is the ability to handle constraints (due to state or input limitations) in a straightforward way. Quadratic programming (QP) is used to solve a linear MPC by successive linearization of an error model of the WMR.
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