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- W2279386543 abstract "The paper is focused on trajectory tracking of differential drive mobile robot. The mathematical model of dynamics and kinematics of the mobile robot is considered, based on first principle approach. The dynamic behaviour of engines and chassis, coupling between engines and wheels and basic geometric dimensions are taken into consideration. Reference tracking of linear and angular velocities are achieved by model predictive control of supply voltage of both the drive motors by considering constraints on controlled variable, manipulated variable as well as state variables. Simulation results are provided to demonstrate the performance of proposed control strategy in MATLAB simulation environment." @default.
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- W2279386543 date "2015-01-01" @default.
- W2279386543 modified "2023-09-30" @default.
- W2279386543 title "Model Predictive Control of Trajectory Tracking of Differentially Steered Mobile Robot" @default.
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- W2279386543 doi "https://doi.org/10.1007/978-3-319-21206-7_8" @default.
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