Nonlinear model predictive tracking control of nonholonomic wheeled mobile robot using modified C/GMRES algorithm

@article{Pei2017NonlinearMP,
  title={Nonlinear model predictive tracking control of nonholonomic wheeled mobile robot using modified C/GMRES algorithm},
  author={Yuanyang Pei and Kunwu Zhang and Jian Pan and Yang Shi},
  journal={IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society},
  year={2017},
  pages={6298-6303}
}
This paper investigates the trajectory tracking control of the nonholonomic wheeled mobile robot (NWMR) using nonlinear model predictive control (NMPC). By defining the tracking error in the NWMR's local coordinate, the tracking problem is formulated into standard NMPC framework. However, the standard NMPC algorithm is computationally demanding so that it is difficult for the real-time implementation of the NMPC algorithm on NWMR systems. To overcome this limitation, a continuation/generalized… CONTINUE READING