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Communication Dans Un Congrès Année : 2009

Robust Tube-based MPC for Constrained Mobile Robots under Slip Conditions

Résumé

This paper focuses on the design of a robust tube-based Model Predictive Control law for the control of constrained mobile robots. A time-varying trajectory tracking error model has been used, where uncertainties are assumed to be bounded and additive. The proposed solution to the control problem is a tube-based MPC ensuring robustness and stability. A comparative simulation example is presented showing the promising behavior of the robust MPC controller.
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Dates et versions

hal-00968215 , version 1 (31-03-2014)

Identifiants

  • HAL Id : hal-00968215 , version 1

Citer

R. Gonzalez, Mirko Fiacchini, J.L. Guzman, Teodoro Alamo. Robust Tube-based MPC for Constrained Mobile Robots under Slip Conditions. Joint 48th IEEE Conference on Decision and Control and 28th Chinese Control Conference, Dec 2009, China. pp.5985-5990. ⟨hal-00968215⟩

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