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  • Jayasiri, Awantha, et al. (author)
  • Tracking Control and State Estimation of a Mobile Robot based on NMPC and MHE
  • 2016
  • In: American Control Conference. - 2378-5861.
  • Conference paper (peer-reviewed)abstract
    • This paper discusses on providing optimization-based solutions to the state estimation and tracking control problems arise in mobile robotics. Estimation problem is solved using Moving Horizon Estimation (MHE) approach and Nonlinear Model Predictive Control (NMPC) is used for solving the tracking control problem. The proposed approaches are compared against other two common techniques for state estimation and control. The methods are successfully implemented in simulation. The real time feasibility of the proposed controller is discussed.
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Type of publication
conference paper (1)
Type of content
peer-reviewed (1)
Author/Editor
Gros, Sebastien, 197 ... (1)
Jayasiri, Awantha (1)
Mann, George K. I. (1)
University
Chalmers University of Technology (1)
Language
English (1)
Research subject (UKÄ/SCB)
Engineering and Technology (1)
Year
2016 (1)

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