Model-Based Predictive Control for Position and Orientation Tracking in a Multilayer Architecture for a Three-Wheeled Omnidirectional Mobile Robot

Model-Based Predictive Control for Position and Orientation Tracking in a Multilayer Architecture for a Three-Wheeled Omnidirectional Mobile Robot

This paper presents the design and implementation of a Model-based Predictive Control (MPC) strategy integrated within a modular multilayer architecture for a three-wheeled omnidirectional mobile robot, the Robotino 4 from Festo. The implemented architecture is organized into three hierarchical laye...

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Bibliographic Details
Main Authors: Elena Villalba-Aguilera, Joaquim Blesa, Pere Ponsa
Format: Article
Language:English
Published: MDPI AG 2025-05-01
Series:Robotics
Subjects:
model-based predictive control
multilayer architecture
motion control
position and orientation tracking
three-wheeled omnidirectional mobile robot
Online Access:https://www.mdpi.com/2218-6581/14/6/72
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