A novel wheeled mobile robots control based on robust hybrid controller: Mixed H2/H∞ and predictive algorithm approach

A novel wheeled mobile robots control based on robust hybrid controller: Mixed H2/H∞ and predictive algorithm approach

One of the challenges facing robot tracking is the difficulty of controlling variety types of robots in known and unknown environments. This paper proposes a new strategy of path tracking for a non-holonomic mobile robot subject to kinematic disturbances using model prediction control and H2/H∞ cont...

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Bibliographic Details
Main Authors: Sibang Liu, Kuili Liu, Zhen Zhong, Jinghan Yi, Hamdulah Aliev
Format: Article
Language:English
Published: Elsevier 2022-11-01
Series:Journal of King Saud University: Computer and Information Sciences
Subjects:
Delay system
Trajectory tracking
Constrains MPC
Quadratic programming
Obstacle avoidance
Hybrid controller
Online Access:http://www.sciencedirect.com/science/article/pii/S1319157821003347

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http://www.sciencedirect.com/science/article/pii/S1319157821003347

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