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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