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Tracking-error model-based predictive control for mobile robots in real time
2007
Robotics and Autonomous Systems
In this paper, a model-predictive trajectory-tracking control applied to a mobile robot is presented. Linearized tracking-error dynamics is used to predict future system behavior and a control law is derived from a quadratic cost function penalizing the system tracking error and the control effort. Experimental results on a real mobile robot are presented and a comparison of the control obtained with that of a time-varying statefeedback controller is given. The proposed controller includes
doi:10.1016/j.robot.2007.01.002
fatcat:aqvihqbowfbnlcjjex7odfocjy