Moving horizon estimation and nonlinear model predictive control for autonomous agricultural vehicles

@inproceedings{Kraus2013MovingHE,
  title={Moving horizon estimation and nonlinear model predictive control for autonomous agricultural vehicles},
  author={Tom Kraus and Hans Joachim Ferreau and Erdal Kayacan and Herman Ramon and Josse De Baerdemaeker and Moritz Diehl and Wouter Saeys},
  year={2013}
}
Controllers working in uncertain environments are often required to adapt themselves continuously to changing conditions to avoid steady-state errors, oscillations at the output or even instability of the closed loop system. The moving horizon estimation (MHE)-nonlinear model predictive control (NMPC) framework being proposed combines these two optimization-based methods to control field vehicles utilizing an adaptive nonlinear kinematic model. The full system state, including two unknown slip… CONTINUE READING

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