A nonlinear model predictive control strategy for trajectory tracking of a four-wheeled omnidirectional mobile robot

Optimal Control Applications and Methods

Volumn 29, Issue 5, 2008, Pages 335-352

  Conceição, André Scolari ^a   Moreira, A Paulo ^a   Costa, Paulo J ^a  

^a UNIVERSITY OF PORTO   (Portugal)

Author keywords

Model based predictive controller; Modeling and simulation; Nonlinear programming; Omnidirectional mobile robot; Trajectory tracking

Indexed keywords

HOLOGRAMS; MOBILE ROBOTS; NONLINEAR PROGRAMMING; NUMERICAL METHODS; OPTIMIZATION; PREDICTIVE CONTROL SYSTEMS; PROBABILITY DENSITY FUNCTION; ROBOT PROGRAMMING; ROBOTICS; ROBOTS; TRAJECTORIES;

CONTROL EFFORTS; MODEL-BASED PREDICTIVE CONTROLLER; MODELING AND SIMULATION; NONLINEAR MINIMIZATIONS; NONLINEAR MODEL PREDICTIVE CONTROLS; NONLINEAR MODELS; NUMERICAL OPTIMIZATIONS; OMNIDIRECTIONAL MOBILE ROBOT; OMNIDIRECTIONAL MOBILE ROBOTS; ORIENTATION ANGLES; POSITION ERRORS; PREDICTIVE CONTROLLERS; TRAJECTORY TRACKING;

MODEL PREDICTIVE CONTROL;

EID: 55049087567     PISSN: 01432087     EISSN: 10991514     Source Type: Journal    
DOI: 10.1002/oca.827     Document Type: Article

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