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...

Full description

Bibliographic Details

Published in:	Control engineering practice Vol. 107; p. 104693
Main Authors:	Fnadi, Mohamed, Du, Wenqian, Plumet, Frédéric, Benamar, Faïz
Format:	Journal Article
Language:	English
Published:	Elsevier Ltd 01.02.2021 Elsevier
Subjects:	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 Access:	Get full text
Tags:	Add Tag No Tags, Be the first to tag this record!