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CDC
2009
IEEE

Robust tube-based MPC for constrained mobile robots under slip conditions

12 years 1 months ago
Robust tube-based MPC for constrained mobile robots under slip conditions
— This paper focuses on the design of a robust tube-based Model Predictive Control law for the control of constrained mobile robots. A time-varying trajectory tracking error model has been used, where uncertainties are assumed to be bounded and additive. The proposed solution to the control problem is a tube-based MPC ensuring robustness and stability. A comparative simulation example is presented showing the promising behavior of the robust MPC controller.
Ramon Gonzalez, Mirko Fiacchini, Jose Luis Guzman,
Added 02 Sep 2010
Updated 02 Sep 2010
Type Conference
Year 2009
Where CDC
Authors Ramon Gonzalez, Mirko Fiacchini, Jose Luis Guzman, Teodoro Alamo
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