Abstract
AbstractThe paper presents a methodology for state feedback MPC synthesis applied to the trajectory tracking control problem of a three wheeled omnidirectional mobile robot. The MPC design used here is based on a cost function developed over finite horizon and LMI framework. It is shown that MPC concepts well established for robot applications, for instance, the use of open loop predictions, receding horizon control, constraints manipulation, are preserved in this new formulation. The stability of the closed loop system is guaranteed by LMI conditions related with the cost function monotonicity. Simulation results of navigation are provided to demonstrate the performance of the proposed control strategy.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
