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This paper discusses the tracking problem of dynamic Wheeled Moving Robot (WMR) subject to nonholonomic constraints and actuator saturations. A constrained guaranteed cost tracking scheme for this problem via TagakiSugeno (T-S) fuzzy model is proposed, where tracking error dynamics of WMR is represented by T-S fuzzy model which are dynamic combination of(More)
This paper addresses the disturbance attenuation problem in nonlinear moving horizon control. Conceptually a minimax formulation with a general dis-sipation constraint is suggested and theoretical results on closed-loop dissipation, L2 disturbance attenuation and stability are discussed. The implementation issue is attacked with respect to tracking a(More)
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