In this paper, a method based on neural networks for intelligently extracting weighting
matrices of the optimal controllers' cost function is presented. Despite the optimal and robust …

This paper presents an improved Model Predictive Control (MPC) for path tracking of a
nonholonomic mobile robot with a differential drive. Nonlinear dynamics and nonholonomic …

The speed of solving and processing factors that are beneficial in reaching the desired
target is one of the problematic aspects of controlling robots that has been neglected by the …

In this paper, trajectory tracking control as the pursuit of a specific target by wheel-legged
mobile robots (WLMRs) in an environment with the presence of obstacles is presented …

This thesis seeks to develop a robust model predictive controller (MPC) for Linear Parameter
Varying (LPV) systems. LPV models based on input-output display are employed. We aim to …

To ensure the stability of closed-loop nonlinear model predictive control (NMPC) within a
finite horizon, there is a need for appropriate design terminal ingredients, which can be a …