This article provides an overview of model predictive control (MPC) frameworks for dynamic
operation of nonlinear constrained systems. Dynamic operation is often an integral part of …

Purpose The purpose of this paper is to provide a comprehensive and unified presentation
of recent developments in skid-steer wheeled mobile robots (SSWMR) with regard to its …

Many robotic applications, such as milling, gluing, or high precision measurements, require
the precise following of a predefined geometric path. We investigate the real-time feasible …

We consider the tracking of geometric paths in output spaces of nonlinear systems subject to
input and state constraints without pre-specified timing requirements, commonly referred to …

In this article, we present a quasi-infinite horizon nonlinear model predictive control (MPC)
scheme for tracking of generic reference trajectories. This scheme is applicable to nonlinear …

A path-following controller is developed and applied to a laboratory tower crane. The control
task is to move a load along a predefined geometric path. The time evolution along the path …

In this paper, we study the system theoretic properties of a reference tracking model
predictive control (MPC) scheme for general reference trajectories and nonlinear discrete …

In this paper, a model predictive path following control (MPFC) for holonomic mobile robots
is considered. The MPFC is aimed to control a mobile robot to follow a geometric path …

This paper studies the trajectory tracking control for the nonholonomic wheeled mobile robot
(WMR) based on model predictive control (MPC). Concerning overcome stable problem …

In this paper, we present an online nonlinear Model Predictive Control (MPC) method for
collision-free, deadlock-free navigation by multiple autonomous nonholonomic Wheeled …