Mobile Robot Motion Control Using Laguerre-Based Model Predictive Control
2015 ◽
Vol 776
◽
pp. 403-410
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Keyword(s):
This paper presents a method of solving the problem of mobile robot motion control using a model predictive controller designed using Laguerre functions. A linear model of the two-wheeled nonholonomic robot is used. This linear model is obtained by converting the nonlinear model in the Cartesian system to a polar one. This change is preferred because it is easier to work with the linear model than its corresponding nonlinear one. Simulation results obtained from MATLAB showing that Laguerre-based MPC (LMPC) performs well are presented.
2018 ◽
Vol 10
(1)
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pp. 20-41
2011 ◽
Vol 143-144
◽
pp. 269-273
Keyword(s):
2011 ◽
Vol E94-A
(2)
◽
pp. 680-687
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2020 ◽
Vol 1500
◽
pp. 012116
Keyword(s):
Keyword(s):