Trajectory Tracking Control of Nonholonomic Wheeled Mobile Robots Using Model Predictive Control Subjected to Lyapunov-based Input Constraints
Jingjun Zhang, Zhili Fang, Zhongqi Zhang, Ruizhen Gao, Shaobo Zhang
Topics & Concepts
Control theory (sociology)Nonholonomic systemTrajectoryModel predictive controlController (irrigation)Stability (learning theory)Computer scienceLyapunov stabilityMobile robotMechatronicsTracking (education)Lyapunov functionRobotControl engineeringControl (management)EngineeringNonlinear systemArtificial intelligencePsychologyAstronomyQuantum mechanicsBiologyPhysicsPedagogyAgronomyMachine learningAdvanced Control Systems OptimizationControl and Dynamics of Mobile RobotsRobotic Path Planning Algorithms