Recently, model predictive control (MPC) is increasingly applied to path tracking of mobile
devices, such as mobile robots. The characteristics of these MPC-based controllers are not …

This paper presents a Robust Constrained Learning-based Nonlinear Model Predictive
Control (RC-LB-NMPC) algorithm for path-tracking in off-road terrain. For mobile robots …

This paper presents a combined Nonlinear Model Predictive Control (NMPC) for position
and velocity tracking of underactuated surface vessels, and collision avoidance of static and …

This paper proposes an adaptive controller to guide an unicycle-like mobile robot during
trajectory tracking. Initially, the desired values of the linear and angular velocities are …

This paper presents a Learning‐based Nonlinear Model Predictive Control (LB‐NMPC)
algorithm to achieve high‐performance path tracking in challenging off‐road terrain through …

This paper presents a Learning-based Nonlinear Model Predictive Control (LB-NMPC)
algorithm for an autonomous mobile robot to reduce path-tracking errors over repeated …

Control tasks in various applications are posed as setpoint-stabilization problems, where a
constant reference has to be stabilized. For systems where changing references are given …

This paper presents a novel linear time-varying model predictive controller (LTV-MPC) using
a sparse clothoid-based path description: a LTV-MPCC. Clothoids are used world-wide in …

In this work a neural indirect sliding mode control method for mobile robots is proposed. Due
to the nonholonomic property and restricted mobility, the trajectory tracking of this system …

Many robotics domains use some form of nonconvex model predictive control (MPC) for
planning, which sets a reduced time horizon, performs trajectory optimization, and replans at …