This paper addresses the nonlinear model predictive control (MPC) for wheeled mobile robots (WMRs) under external disturbance. The decoupling technique is utilized based on non-holonomic constraint description separating WMR model. method able to achieve under-actuated kinematic sub-system without disturbance and fully-actuated dynamic in presence of Thanks technique, lumped into sub-system. no...

Model predictive control (MPC) is an effective approach to multivariable dynamic systems with constraints. Most real models are however affected by plant-model mismatch and process uncertainties, which can lead closed-loop performance deterioration constraint violations. Methods such as stochastic MPC (SMPC) have been proposed alleviate these problems; however, the resulting state trajectory mi...

This paper introduces a novel sensorless model-predictive torque-flux control (MPTFC) for two-level inverter-fed induction motor (IM) drives to overcome the high torque ripples issue, which is evidently presented in (MPTC). The suggested approach will be based on modification adaptive full-order-observer (AFOO). Moreover, modeled considering core losses and compensation term of loss applied obs...