OTHER
Comparison of Kinematic and Dynamic Model Based Linear Model Predictive Control of Non-Holonomic Robot for Trajectory Tracking: Critical Trade-offs Addressed
Kaustav Mondal, Armando A. Rodriguez, Sai Sravan Manne, Nirangkush Das, Brent Wallace
- Year
- 2019
- Citations
- 10
Abstract
This paper presents a hierarchical inner-outer control structure with model predictive controller (MPC) in the outer-loop and a PI controller in the inner loop, to perform trajectory tracking on non-holonomic robots.
Keywords
HolonomicControl theory (sociology)TrajectoryKinematicsTracking (education)Model predictive controlInner loopController (irrigation)RobotComputer science
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