A note on the predictive control of non‐holonomic systems and underactuated vehicles in the presence of drift
Henrik Ebel,
Mario Rosenfelder,
Peter Eberhard
Abstract:Motion planning and control of non‐holonomic systems is challenging. Only very recently, it has become clear how model predictive controllers for such systems can be generally furnished in the driftless case, where the key is to design a cost function conforming to the geometry arising from the non‐holonomic constraints. However, in some applications, one cannot neglect drift since the time needed to accelerate is non‐negligible, for example, when operating vehicles with high inertia or at high velocities. The… Show more
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