NonLinear Predictive Control for a NonHolonomic Nonminimum Phase System

Abstract

This work addresses the problem of nonlinear control of nonholonimic, nonminimum-phase systems . More speci cally, the problem of trajectory tracking for a motorcycle-like system will be considered. The literature on this topic appears to be rather limited, both with regard to the theorical side, as well as concerning the applications. The path is… (More)

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