Receding Horizon Optimal controller for reference trajectory tracking in Mars entry guidance

Huang, Yuechen; Li, Haiyang

doi:10.1109/cgncc.2016.7829176

Cited by 1 publication

(2 citation statements)

References 13 publications

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“…A mobile robot is a highly dynamic system that relies on locomotion mechanisms to move throughout its environment within a large variety of possible ways to move. There are mobile robots that can walk, jump, run, 103 slide, skate, swim, 90 fly, 42 and roll. 75 Whereas most of these locomotion mechanisms have been inspired by their biological counterparts, there is one exception-the actively powered wheel.…”

Section: Nonholonomic Mobile Robots -An Overviewmentioning

confidence: 99%

“…In each horizon, a closed-loop tracking control policy is successively updated using a class of approximate dynamic programming algorithms called finite-horizon dual heuristic programming (DHP). In contrast, the optimization process regarding NMPC was addressed by Huang et al 42 where a guidance law based on RH control is developed for reference trajectory tracking to reduce the impact of model errors on guidance performance. This control law aimed to reduce the trajectory deviation caused by the entry guidance of a high-speed vehicles entering a rarefied atmosphere with highly uncertainties, such as the planet Mars.…”

Section: Optimization Problemmentioning

confidence: 99%

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Nonholonomic mobile robots' trajectory tracking model predictive control: a survey

Nascimento

Dórea²,

Gonçalves³

2018

Robotica

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SUMMARYModel predictive control (MPC) theory has gained attention with the recent increase in the processing power of computers that are now able to perform the needed calculations for this technique. This kind of control algorithms can achieve better results in trajectory tracking control of mobile robots than classical control approaches. In this paper, we present a review of recent developments in trajectory tracking control of mobile robot systems using model predictive control theory, especially when nonholonomicity is present. Furthermore, we point out the growth of the related research starting with the boom of mobile robotics in the 90s and discuss reported field applications of the described control problem. The objective of this paper is to provide a unified and accessible presentation, placing the classical model, problem formulations and approaches into a proper context and to become a starting point for researchers who are initiating their endeavors in linear/nonlinear MPC applied to nonholonomic mobile robots. Finally, this work aims to present a comprehensive review of the recent breakthroughs in the field, providing links to the most interesting and successful works, including our contributions to state-of-the-art.

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