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- W2729166483 abstract "This paper proposes a Model Predictive Controller (MPC) for control of a P2AT mobile robot. MPC refers to a group of controllers that employ a distinctly identical model of process to predict its future behavior over an extended prediction horizon. The design of a MPC is formulated as an optimal control problem. Then this problem is considered as linear quadratic equation (LQR) and is solved by making use of Ricatti equation. To show the effectiveness of the proposed method this controller is implemented on a real robot. The comparison between a PID controller, adaptive controller, and the MPC illustrates advantage of the designed controller and its ability for exact control of the robot on a specified guide path." @default.
- W2729166483 created "2017-07-14" @default.
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- W2729166483 date "2017-06-27" @default.
- W2729166483 modified "2023-10-01" @default.
- W2729166483 title "Model predictive Controller for Mobile Robot" @default.
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- W2729166483 doi "https://doi.org/10.22149/teee.v2i2.96" @default.
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