Hybrid Model Predictive Control for the Stabilization of Wheeled Mobile Robots Subject to Wheel Slippage

Shangming Wei, Kasemsak Uthaichana, Milos Zefran, Raymond A. DeCarlo. Hybrid Model Predictive Control for the Stabilization of Wheeled Mobile Robots Subject to Wheel Slippage. IEEE Trans. Contr. Sys. Techn., 21(6):2181-2193, 2013. [doi]

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