Nonlinear Model Predictive Control for Mobile Robot Using Varying-Parameter Convergent Differential Neural Network
The mobile robot kinematic model is a nonlinear affine system, which is constrained by velocity and acceleration limits. Therefore, the traditional control methods may not solve the tracking problem because of the physical constraint. In this paper, we present the nonlinear model predictive control...
| Main Authors: | , , , , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2019-07-01
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| Series: | Robotics |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2218-6581/8/3/64 |