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Nonlinear Model predictive control (NMPC) suffers from the problems of closed loop instability and computational complexity, which greatly limit the applications of NMPC in real plants involving fast time-varying dynamics. During previous work, the authors have supposed a new real-time NMPC algorithm based on the concept of generalized pointwise min-norm (GPMN) scheme. And in this paper, the new real-time...
In this paper, a new robust and optimization based nonlinear controller with respect to a certain kind of nonlinear disturbed systems is proposed based on control Lyapunov functions (CLF) concept and receding horizon control (RHC) scheme. This new controller can be divided into two components, one is the robust control law with measurable disturbance information; another is the robust receding horizon...
This paper presents a new fast histogram matching algorithm for tracking the position and orientation of robots without the help of any odometers. Histogram avoids extracting geometrical primitives from the sensor data, acts independently from odometers, and is easy to be implemented. Here, the authors employ it to analyze laser scan data. A new concept named "hierarchical histogram structure"...
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