Nonlinear Model Predictive Control versus Linear Time-Variant Control for Mobile Robots Prone to Input Saturation
This research work is focused on solving the practical problems that arise in trajectory tracking control of Hilare robots when the conventional Linear Time-Variant Controller (LTVC) is employed. The trajectory tracking of a Hilare robot on a flat 2D ground is considered. The left and the right whee...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
De Gruyter
2012-12-01
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| Series: | Nonlinear Engineering |
| Subjects: | |
| Online Access: | https://doi.org/10.1515/nleng-2012-0008 |