Path Tracking of Mining Vehicles Based on Nonlinear Model Predictive Control

Learning-based Nonlinear Model Predictive Control to Improve Vision-based Mobile Robot Path Tracking

This paper presents a Learning-based Nonlinear Model Predictive Control (LB-NMPC) algorithm to achieve high-performance path tracking in challenging off-road terrain through learning. The LB-NMPC algorithm uses a simple a priori vehicle model and a learned disturbance model. Disturbances are modelled as a Gaussian Process (GP) as a function of system state, input, and other relevant variables. ...

Nonlinear Model Predictive Tracking Control for Rotorcraft-based Unmanned Aerial Vehicles

In this paper, we investigate the feasibility of a nonlinear model predictive tracking control (NMPTC) for autonomous helicopters. We formulate a NMPTC algorithm for planning paths under input and state constraints and tracking the generated position and heading trajectories, and implement an on-line optimization controller using gradient-descent method. The proposed NMPTC algorithm demonstrate...

Navigation system for agricultural machines: Nonlinear Model Predictive path tracking

This article presents a new kind of navigation system for agricultural machines. The focus is on trajectory control where a Nonlinear Model Predictive path tracking for tractor and trailer system is presented. The experiments of the proposed method are carried out by using real agricultural machines in real environ-

Nonlinear Model Predictive Path Tracking for Precision Guidance

Nonlinear Model Predictive Control of Robots, Cranes and Vehicles

The main goal of the paper is to show that nonlinear model based predictive control is an effective alternative method for controlling uncertain nonlinear underactuated systems satisfying real time expectations where uncertainty is caused by friction and disturbance. The paper presents control algorithms for a two degree of freedom robot and for two underactuated systems, the small size model o...