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• W2061531727 abstract "Abstract This paper presents an improved formulation of tube-based (i.e. a tube is a sequence of sets) robust model predictive control (MPC) paradigm to be applied to time-varying systems. In particular it is concerned with the trajectory tracking control problem. The improved formulation of tubes employs a tighter online prediction for the evolution of difference between nominal disturbance-free and actual states of the system, therewith ensuring improved performance. The proposed robust control approach is applied to the trajectory tracking control problem of UGV's (Unmanned Ground Vehicle) subject to bounded disturbance. Simulation results illustrate that the proposed control law yields suitable robust trajectory tracking with low level of conservativeness." @default.
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• W2061531727 date "2011-01-01" @default.
• W2061531727 modified "2023-09-22" @default.
• W2061531727 title "Toward A Robust Model Predictive Controller Applied To Mobile Vehicle Trajectory Tracking Control" @default.
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• W2061531727 doi "https://doi.org/10.3182/20110828-6-it-1002.01786" @default.
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