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Robust tracking model predictive control with quadratic robustness constraint for mobile robots with incremental input constraints
L Dai, Y Lu, H ** and novel sliding mode trajectory tracking controller for wheeled mobile robots
H Huang, J Gao - Mathematics, 2024 - mdpi.com
A novel variable structure controller based on sliding mode is developed for addressing the
trajectory tracking challenge encountered by wheeled mobile robots. Firstly, the trajectory …
trajectory tracking challenge encountered by wheeled mobile robots. Firstly, the trajectory …
A custom parallel hardware architecture of nonlinear model-predictive control on FPGA
F Xu, Z Guo, H Chen, D Ji, T Qu - IEEE Transactions on …, 2021 - ieeexplore.ieee.org
This article presents the field-programmable gate array (FPGA) implementation of a particle
swarm optimization (PSO)-based nonlinear model-predictive control (NMPC) for …
swarm optimization (PSO)-based nonlinear model-predictive control (NMPC) for …
Integrated control of path tracking and handling stability for autonomous ground vehicles with four-wheel steering
Accurate modelling of an autonomous ground vehicle (AGV) is challenging due to strong
nonlinearity, model perturbations and external disturbances. This necessitates the design of …
nonlinearity, model perturbations and external disturbances. This necessitates the design of …
Robotic autonomous trolley collection with progressive perception and nonlinear model predictive control
Predictive path following control for mobile robots with automatic parameter tuning
A Tika, S Hiremath, N Bajcinca - 2023 European Control …, 2023 - ieeexplore.ieee.org
A path following feedback controller for mobile robots based on model predictive control
(MPC) is introduced. The path following problem is formulated in the Frenet-Serret frame …
(MPC) is introduced. The path following problem is formulated in the Frenet-Serret frame …