Nonlinear model predictive control for trajectory tracking of nonholonomic mobile robots
Trajectory tracking for autonomous vehicles is usually solved by designing control laws that make the vehicles track predetermined feasible trajectories based on the trajectory error. This type of approach suffers from the drawback that usually the vehicle dynamics exhibits complex nonlinear terms a...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
SAGE Publishing
2018-02-01
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| Series: | International Journal of Advanced Robotic Systems |
| Online Access: | https://doi.org/10.1177/1729881418760461 |