Robust tube-based predictive control for mobile robots in off-road conditions

This paper focuses on the design of a tube-based Model Predictive Control law for the control of constrained mobile robots in off-road conditions with longitudinal slip while ensuring robustness and stability. A time-varying trajectory tracking error model is used, where uncertainties are assumed to...

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Bibliographic Details
Published in:	Robotics and autonomous systems Vol. 59; no. 10; pp. 711 - 726
Main Authors:	González, Ramón, Fiacchini, Mirko, Guzmán, José Luis, Álamo, Teodoro, Rodríguez, Francisco
Format:	Journal Article
Language:	English
Published:	Elsevier B.V 01-10-2011 Elsevier
Subjects:	Autonomous Autonomous mobile robot Computer simulation Dynamical Systems Mathematical models Mathematics Model Predictive Control Predictive control Robot control Robots Robustness Slip Tracking errors Trajectories Robustness Model Predictive Control Autonomous mobile robot Slip
Online Access:	Get full text
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