-
Time optimal control for a nonholonomic system with state constraint
International audience -
Re injecting the structure in NMPC schemes. Application to the constrained st...
In this paper, a constrained nonlinear predictive control scheme is proposed for a class of under-actuated nonholonomic systems. The scheme is based on fast generation... -
Modelisation and control of wheeled mobile robots
This dissertation addresses the following problem : given a wheeled mobile robot equip- ped with sensors, considered as perfect, which on-line provide it with its...
