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Tracking Control and State Estimation of a Mobile Robot based on NMPC and MHE

Awantha Jayasiri ; Sébastien Gros (Institutionen för signaler och system, Reglerteknik) ; George K. I. Mann
American Control Conference (2016)
[Konferensbidrag, refereegranskat]

This paper discusses on providing optimization-based solutions to the state estimation and tracking control problems arise in mobile robotics. Estimation problem is solved using Moving Horizon Estimation (MHE) approach and Nonlinear Model Predictive Control (NMPC) is used for solving the tracking control problem. The proposed approaches are compared against other two common techniques for state estimation and control. The methods are successfully implemented in simulation. The real time feasibility of the proposed controller is discussed.



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Denna post skapades 2017-01-18.
CPL Pubid: 247356

 

Institutioner (Chalmers)

Institutionen för signaler och system, Reglerteknik (2005-2017)

Ämnesområden

Informations- och kommunikationsteknik
Maskinteknik

Chalmers infrastruktur