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Following A Dynamic Object Through A Transient Response Adjustable MPC (Extended Version)

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posted on 26.07.2021, 21:07 by Sanghyun HongSanghyun Hong, Justin Miller, Jianbo Lu
We developed an MPC motion controller for a mobile robot to follow a dynamic object. The main contribution is to find an adjustable transient response characteristic in a special formulation of MPC and apply to a real robot platform.


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Submitting Author's Institution

Research & Advanced Engineering, Ford Motor Company

Submitting Author's Country

United States of America

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