论文信息 - One-step-ahead predictive control of steering mobile robot

One-step-ahead predictive control of steering mobile robot

In this paper, a one-step-ahead predictive controller is applied to solve a tracking control problem of steering mobile robot. The derived control law is simple for implementation and no online optimization is needed. Further, to constraint the control signals inside the acceptable range, saturation technique is used. The stability analysis of the closed loop system is provided. Simulation results show the efficiency of this approach where good tracking performances have been obtained.

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