Receding horizon tracking control of unicycle-type robots based on virtual structure

DOI10.1002/rnc.3555zbMath1351.93100OpenAlexW2346473199MaRDI QIDQ5298484

Zhongqi Sun, Yuanqing Xia

Publication date: 15 December 2016

Published in: International Journal of Robust and Nonlinear Control (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1002/rnc.3555

zbMATH Keywords

trackingreceding horizon control (RHC)unicycle robotvirtual structurecoupled input constraint

Mathematics Subject Classification ID

Nonlinear systems in control theory (93C10) Automated systems (robots, etc.) in control theory (93C85) Control/observation systems governed by ordinary differential equations (93C15)

Related Items (9)

Robust MPC for tracking constrained unicycle robots with additive disturbances ⋮ Trajectory tracking of nonholonomic mobile robots by geometric control on special Euclidean group ⋮ Event‐triggered model predictive control for multi‐vehicle systems with collision avoidance and obstacle avoidance ⋮ High precision tracking control for a sequence of way-points using dynamic unicycles ⋮ Self-triggered MPC for trajectory tracking of unicycle-type robots with external disturbance ⋮ Dual‐mode robust model predictive control for the tracking control of nonholonomic mobile robot ⋮ Nonlinear switched model predictive control with multiple Lyapunov functions for trajectory tracking and obstacle avoidance of nonholonomic systems ⋮ Motion coordination for a class of multi-agents via networked predictive control ⋮ Robust RHC for wheeled vehicles with bounded disturbances

Uses Software

• ICLOCS

Cites Work

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• Necessary and sufficient graphical conditions for formation control of unicycles
• On the Rendezvous Problem for Multiple Nonholonomic Agents

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