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- W4376113457 abstract "This paper explores the trajectory tracking control problem for a wheeled mobile robot (WMR) in an environment with obstacles and unknown disturbances. A fixed-time extended state observer is presented, which is utilized to estimate unknown disturbances and improve the convergence speed of estimation errors. By introducing the obstacle avoidance cost, a model predictive controller with disturbance compensation is proposed to guarantee desired tracking performance in the presence of obstacles. The proposed method is analyzed for recursive feasibility and closed-loop system stability subject to unknown disturbances and obstacles. Finally, both simulation and experiment are conducted to express the satisfactory tracking effect of the developed approach." @default.
- W4376113457 created "2023-05-12" @default.
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- W4376113457 date "2023-07-01" @default.
- W4376113457 modified "2023-09-29" @default.
- W4376113457 title "Model predictive tracking control with disturbance compensation for wheeled mobile robots in an environment with obstacles" @default.
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- W4376113457 doi "https://doi.org/10.1016/j.jfranklin.2023.05.004" @default.
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