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| Content Provider | IET Digital Library |
|---|---|
| Author | Yang, Hongjiu Guo, Mingchao Xia, Yuanqing Cheng, Lei |
| Abstract | In this study, model predictive control with softening constraints is applied to a non-holonomic wheeled mobile robot for trajectory tracking in the presence of external disturbances. In order to improve real-time robustness of the wheeled mobile robot, a linearised tracking error model is used to predict system behaviours. The proposed control scheme contains a feedforward controller and a feedback controller, in which both control constraints and control increment constraints are considered to achieve trajectory tracking smoothly. Finally, numerical simulations demonstrate the performances of the control scheme. |
| Starting Page | 206 |
| Ending Page | 214 |
| Page Count | 9 |
| ISSN | 17518644 |
| Volume Number | 12 |
| e-ISSN | 17518652 |
| Issue Number | Issue 2, Jan (2018) |
| Alternate Webpage(s) | https://digital-library.theiet.org/content/journals/iet-cta/12/2 |
| Alternate Webpage(s) | https://digital-library.theiet.org/content/journals/10.1049/iet-cta.2017.0395 |
| Journal | IET Control Theory & Applications |
| Publisher Date | 2017-10-17 |
| Access Restriction | Open |
| Rights Holder | © The Institution of Engineering and Technology |
| Subject Keyword | Control Increment Constraint External Disturbances Feedback Feedback Controller Feedforward Feedforward Controller Linearisation Technique Linearised Tracking Error Model Mobile Robots Model Predictive Control Nonholonomic Wheeled Mobile Robot Numerical Analysis Numerical Simulation Optimal Control Predictive Control Real-time Robustness Softening Constraint Spatial Variables Control System Behaviour Prediction Trajectory Control Trajectory Tracking |
| Content Type | Text |
| Resource Type | Article |
| Subject | Control and Optimization Control and Systems Engineering Human-Computer Interaction Electrical and Electronic Engineering Computer Science Applications |
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