Constrained Model Predictive Control for dynamic path tracking of a bi-steerable rover on slippery grounds

The research works carried out in this paper deal with the control of a fast double-steering off-road mobile robot. Such kind of robots requires very high stable and accurate controllers because their mobility is particularly influenced by wheel–ground interactions. Hence, the vehicle dynamics shoul...

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Veröffentlicht in:	Control engineering practice Jg. 107; S. 104693
Hauptverfasser:	Fnadi, Mohamed, Du, Wenqian, Plumet, Frédéric, Benamar, Faïz
Format:	Journal Article
Sprache:	Englisch
Veröffentlicht:	Elsevier Ltd 01.02.2021 Elsevier
Schlagworte:	Computer Science Dynamics Model Predictive Control Off-road robot Quadratic programming Slippage Off-road robot Slippage Quadratic programming Dynamics Model Predictive Control off-road robot slippage Quadratic Programming
ISSN:	0967-0661, 1873-6939
Online-Zugang:	Volltext
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