{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2024,7,20]],"date-time":"2024-07-20T18:57:06Z","timestamp":1721501826801},"reference-count":0,"publisher":"Walter de Gruyter GmbH","issue":"1","license":[{"start":{"date-parts":[[2016,1,1]],"date-time":"2016-01-01T00:00:00Z","timestamp":1451606400000},"content-version":"unspecified","delay-in-days":0,"URL":"http:\/\/creativecommons.org\/licenses\/by\/4.0"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2016,1,1]]},"abstract":"<jats:title>Abstract<\/jats:title>\n               <jats:p>This paper develops the nonlinear model predictive\ncontrol (NMPC) algorithm to control autonomous\nrobots tracking feasible paths generated directly from the\nnonlinear dynamic equations.NMPC algorithm can secure\nthe stability of this dynamic system by imposing additional\nconditions on the open loop NMPC regulator. The\nNMPC algorithm maintains a terminal constrained region\nto the origin and thus, guarantees the stability of the nonlinear\nsystem. Simulations show that the NMPC algorithm\ncan minimize the path tracking errors and control the autonomous\nrobots tracking exactly on the feasible paths\nsubject to the system\u2019s physical constraints.<\/jats:p>","DOI":"10.1515\/comp-2016-0015","type":"journal-article","created":{"date-parts":[[2016,11,15]],"date-time":"2016-11-15T10:01:10Z","timestamp":1479204070000},"page":"178-186","source":"Crossref","is-referenced-by-count":3,"title":["Nonlinear Model Predictive Controller and\nFeasible Path Planning for Autonomous Robots"],"prefix":"10.1515","volume":"6","author":[{"given":"Vu Trieu","family":"Minh","sequence":"first","affiliation":[{"name":"Department of Mechatronics Tallinn University of Technology , Tallinn , Estonia"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"374","published-online":{"date-parts":[[2016,11,15]]},"container-title":["Open Computer Science"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.degruyter.com\/view\/journals\/comp\/6\/1\/article-p178.xml","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/www.degruyter.com\/document\/doi\/10.1515\/comp-2016-0015\/xml","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/www.degruyter.com\/document\/doi\/10.1515\/comp-2016-0015\/pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2022,4,27]],"date-time":"2022-04-27T08:57:15Z","timestamp":1651049835000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.degruyter.com\/document\/doi\/10.1515\/comp-2016-0015\/html"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2016,1,1]]},"references-count":0,"journal-issue":{"issue":"1","published-online":{"date-parts":[[2016,2,22]]},"published-print":{"date-parts":[[2016,1,1]]}},"alternative-id":["10.1515\/comp-2016-0015"],"URL":"https:\/\/doi.org\/10.1515\/comp-2016-0015","relation":{},"ISSN":["2299-1093"],"issn-type":[{"value":"2299-1093","type":"electronic"}],"subject":[],"published":{"date-parts":[[2016,1,1]]}}}