Nonlinear Model Predictive Path-Following Controller for a Small-Scale Autonomous Bulldozer for Accurate Placement of Materials and Debris of Masonry in Construction Contexts
This paper presents a nonlinear model predictive control (NMPC) scheme for the medium-level control of a small-scale autonomous bulldozer to accurately and safely displace crushed materials of masonry in construction contexts. For this purpose, the controller is required to minimize the error betwee...
Main Authors: | , |
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Format: | Article |
Language: | English |
Published: |
IEEE
2021-01-01
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Series: | IEEE Access |
Subjects: | |
Online Access: | https://ieeexplore.ieee.org/document/9491040/ |