Trajectory-tracking and path-following controllers for constrained underactuated vehicles using Model Predictive Control.
Andrea AlessandrettiA. Pedro AguiarColin N. JonesPublished in: ECC (2013)
Keyphrases
- model predictive control
- trajectory tracking
- control system
- closed loop
- control law
- real time
- iterative learning control
- control method
- predictive control
- fuzzy logic
- control algorithm
- control strategy
- control scheme
- bi directional
- fuzzy control
- pid controller
- motion planning
- iterative learning
- physical constraints
- fuzzy controller
- neuro fuzzy
- sliding mode
- dynamic model
- control theory
- nonlinear systems
- adaptive control
- optimal control
- degrees of freedom
- back propagation