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In this paper, a first-state contractive (FSC) model predictive control (MPC) algorithm is developed for the trajectory tracking and point stabilization problems of nonholonomic mobile robots. Different from other stabilizing MPC methods, which address stability by adding terminal state penalties in the performance index and imposing constraints on the terminal state at the end of the prediction horizon,...
Coordination of multiple vehicles has been of great interest in the control community. In this paper, we consider the problem of controlling a team of mobile robots with nonholonomic constraints to leader-following formations. We propose that it is more convenient to put the nonholonomic constraints inside the model predictive control (MPC) framework. As the first step of exploration, a dual-mode...
This paper describes the application of model predictive control (MPC) to a geothermal bridge deck heating system. The control system integrates concepts of MPC with a first-principles bridge deck model and hourly computerized national weather service (NWS) forecasts to prevent bridge icing without the use of salt or other chemical de-icing materials. The proactive nature of the control system maximizes...
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