In this research, a model predictive collision-free path following controller is developed and applied for an omnidirectional mobile robot (OMR). The controlled to track reference while avoiding collision with obstacles. path-following problem reformulated into the regulation of extended plant by introducing virtual degree freedom, parameter geometric curve. Then Model Predictive Controller (MP...

Classical model-free predictive current control (MFPCC) is a robust technique for two-level inverter-fed induction-motor drive, with advantages that consist of simple concept, rapid response, implementation, and excellent performance. However, the classic finite-control-set MFPCC still exhibits significant ripple. This article presents method to enhance performance using combination discrete-sp...