A robust interpolated model predictive control based on recurrent neural networks for a nonholonomic differential-drive mobile robot with quasi-LPV representation: computational complexity and conservatism

This paper presents an improved Model Predictive Control (MPC) for path tracking of a nonholonomic mobile robot with a differential drive. Nonlinear dynamics and nonholonomic constraints make the optimisation problem of MPC for the robot challenging. Nonlinear dynamics of the robots are expressed by...

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Bibliographic Details
Published in:	International journal of systems science Vol. 55; no. 15; pp. 3257 - 3271
Main Authors:	Hadian, Mohsen, Zhang, W. J., Etesami, Danial
Format:	Journal Article
Language:	English
Published:	London Taylor & Francis 17.11.2024 Taylor & Francis Ltd
Subjects:	Algorithms Computing costs Control stability Control theory linear parameter varying Model predictive control Nonlinear control nonlinear control systems Nonlinear dynamics Optimization Path tracking Predictive control Recurrent neural networks Robot control Robust control Stability augmentation
ISSN:	0020-7721, 1464-5319
Online Access:	Get full text
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