ArticleSensors (Basel, Switzerland)2026
Robust Model Predictive Control with a Dynamic Look-Ahead Re-Entry Strategy for Trajectory Tracking of Differential-Drive Robots.
Article in Sensors (Basel, Switzerland), 2026. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 1 paper.
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Who cites it
1 citing paper in PubMed.
- Comparative Analysis of Kinematic and Identified MIMO Models in Model Predictive Control for Mobile Robot Trajectory Tracking.Sensors (Basel, Switzerland) · 2026Article
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Authors and funding
8 authors.
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No grant is acknowledged in the PubMed record.
Abstract
Accurate trajectory tracking remains a central challenge in differential-drive mobile robots (DDMRs), particularly when operating under real-world conditions. Model Predictive Control (MPC) provides a powerful framework for this task, but its performance degrades when the robot deviates significantly from the nominal path. To address this limitation, robust recovery mechanisms are required to ensure stable and precise tracking. This work presents an experimental validation of an MPC controller applied to a four-wheel DDMR, whose odometry is corrected by a SLAM algorithm running in ROS 2. The MPC is formulated as a quadratic program with state and input constraints on linear (
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