3.3.8 Model-Based Predictive Control

Model-based predictive control (MPC) approaches are advanced methods that can be applied to various areas as well as to mobile robotics were reference trajectory is known beforehand. The use of predictive control approaches in mobile robotics usually relies on a linearized (or also nonlinear) kinematic model or dynamic model to predict future system states. A number of successful implementations to wheeled robotics have been reported such as generalized predictive control in [18], predictive control with Smith predictor to handle the system’s time delay in [19], MPC based on a linear, time-varying system description in [20], nonlinear predictive controller with a multilayer neural network as a system model ...

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