Nonlinear Model Predictive Control with Cost Function Scheduling for a Wheeled Mobile Robot.

Jaehyun Lim Hyeonwoo Lee Jongeun Choi

Published in: IROS (2022)

Keyphrases

cost function
wheeled mobile robot
control algorithm
control system
nonlinear model predictive control
scheduling problem
scheduling algorithm
dynamic model
computationally efficient
objective function
fuzzy logic
image based visual servoing
decision trees
sufficient conditions