Moving horizon ℋ∞ tracking control of wheeled mobile robots with actuator saturation

IEEE Transactions on Control Systems Technology

Volumn 17, Issue 2, 2009, Pages 449-457

  Chen, Hong ^a   Ma, Miao Miao ^a   Wang, Hu ^a   Liu, Zhi Yuan ^b   Cai, Zi Xing ^c  

^a JILIN UNIVERSITY   (China)

^b HARBIN INSTITUTE OF TECHNOLOGY   (China)

^c CENTRAL SOUTH UNIVERSITY   (China)

Author keywords

tracking; Control constraints; Disturbance attenuation; Moving horizon control; Wheeled mobile robot (WMR)

Indexed keywords

ACTUATORS; NAVIGATION; ROBOTICS;

ACTUATOR SATURATIONS; CLOSED-LOOP TRACKING; CONTROL CONSTRAINTS; CONTROL PROBLEMS; DISSIPATION THEORIES; DISTURBANCE ATTENUATION; DYNAMIC TRACKING; EXTERNAL DISTURBANCES; INITIAL CONDITIONS; MOVING HORIZON CONTROL; MOVING HORIZONS; PREDICTION MODELS; SAMPLING TIME; SIMULATION RESULTS; TRACKING CONTROLS; TRACKING SCHEMES; WHEELED MOBILE ROBOT (WMR);

MOBILE ROBOTS;

EID: 63249122332     PISSN: 10636536     EISSN: None     Source Type: Journal    
DOI: 10.1109/TCST.2008.2000985     Document Type: Article

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