Finite-time tracking control of multiple nonholonomic mobile robots with external disturbances
نویسندگان
چکیده
منابع مشابه
Robust MPC for tracking of nonholonomic robots with additive disturbances
In this paper, two robust model predictive control (MPC) schemes are proposed for tracking control of nonholonomic systems with bounded disturbances: tube-MPC and nominal robust MPC (NRMPC). In tube-MPC, the control signal consists of a control action and a nonlinear feedback law based on the deviation of the actual states from the states of a nominal system. It renders the actual trajectory wi...
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ژورنال
عنوان ژورنال: Kybernetika
سال: 2016
ISSN: 0023-5954,1805-949X
DOI: 10.14736/kyb-2015-6-1049