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Author/Affiliation: Anton de RuiterOpen AccessArticle
13 Pages, 1,879 KB 
Nonlinear Model Predictive Control of Rover Robotics System
Abstract:
The paper presents two robust and efficient control algorithms based on (i) Optimal Control Allocation (OCA) and (ii) Nonlinear Model Predictive Control (NMPC). The robotics system consists of two rovers with mecanum wheels and mounted two 7-DOF arms carrying a common load. The overall system is an underdetermined one with non-holonomic constraints. The developed control…
Read More(This article belongs to the SP14 (Special Issue on Computing, Engineering and Multidisciplinary Sciences 2022-23) & Section Robotics (ROB))