Constrained model predictive control for mobile robotic manipulators
Constrained model predictive control for mobile robotic manipulators
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Publisher
Cambridge, UK: Cambridge University Press
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Language
English
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Publisher
Cambridge, UK: Cambridge University Press
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Contents
This paper discusses the application of a constraint-based model predictive control (MPC) to mobile manipulation tracking problems. The problem has been formulated so as to guarantee offset-free tracking of piecewise constant references, with convergence and recursive feasibility guarantees. Since MPC inputs are recomputed at every control iteratio...
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Full title
Constrained model predictive control for mobile robotic manipulators
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Author / Creator
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Record Identifier
TN_cdi_proquest_journals_1973006934
Permalink
https://devfeature-collection.sl.nsw.gov.au/record/TN_cdi_proquest_journals_1973006934
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ISSN
0263-5747
E-ISSN
1469-8668
DOI
10.1017/S0263574717000133
