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Comparative Analysis of NMPC and Fuzzy PID Controllers for Trajectory Tracking in Omni-Drive Robots: Design, Simulation, and Performance Evaluation (2403.06744v2)
Published 11 Mar 2024 in cs.RO, cs.SY, and eess.SY
Abstract: Trajectory tracking for an Omni-drive robot presents a challenging task that demands an efficient controller design. This paper introduces a self-optimizing controller, Type-1 fuzzyPID, which leverages dynamic and static system response analysis to overcome the limitations of manual tuning. To account for system uncertainties, an Interval Type-2 fuzzyPID controller is also developed. Both controllers are designed using Matlab/Simulink and tested through trajectory tracking simulations in the CoppeliaSim environment. Additionally, a non-linear model predictive controller(NMPC) is proposed and compared against the fuzzyPID controllers. The impact of tunable parameters on NMPC tracking accuracy is thoroughly examined. We also present plots of the step-response characteristics and noise rejection experiments for each controller. Simulation results validate the precision and effectiveness of NMPC over fuzzyPID controllers while trading computational complexity. Access to code and simulation environment is available in the following link: https://github.com/love481/Omni-drive-robot-Simulation.git.
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International Journal of Fuzzy Logic and Intelligent Systems 18(3), 220–228 (2018) Jiang and Jiang [2012] Jiang, W., Jiang, X.: Design of an intelligent temperature control system based on the fuzzy self-tuning pid. Procedia Engineering 43, 307–311 (2012) Bansal and Narvey [2013] Bansal, U.K., Narvey, R.: Speed control of dc motor using fuzzy pid controller. Advance in Electronic and Electric Engineering 3(9), 1209–1220 (2013) Chao et al. [2019] Chao, C.-T., Sutarna, N., Chiou, J.-S., Wang, C.-J.: An optimal fuzzy pid controller design based on conventional pid control and nonlinear factors. Applied Sciences 9(6), 1224 (2019) Nour et al. [2007] Nour, M., Ooi, J., Chan, K.: Fuzzy logic control vs. conventional pid control of an inverted pendulum robot. In: 2007 International Conference on Intelligent and Advanced Systems, pp. 209–214 (2007). IEEE Alouache and Wu [2018] Alouache, A., Wu, Q.: Fuzzy logic pd controller for trajectory tracking of an autonomous differential drive mobile robot (ie quanser qbot). Industrial Robot: An International Journal 45(1), 23–33 (2018) Hashemi et al. [2011] Hashemi, E., Jadidi, M.G., Jadidi, N.G.: Model-based pi–fuzzy control of four-wheeled omni-directional mobile robots. Robotics and Autonomous Systems 59(11), 930–942 (2011) Abiyev et al. [2017] Abiyev, R.H., Günsel, I.S., Akkaya, N., Aytac, E., Çağman, A., Abizada, S.: Fuzzy control of omnidirectional robot. Procedia Computer Science 120, 608–616 (2017) Vu et al. [2021] Vu, T.M., Moezzi, R., Cyrus, J., Hlava, J.: Model predictive control for autonomous driving vehicles. Electronics 10(21), 2593 (2021) Maurović et al. [2011] Maurović, I., Baotić, M., Petrović, I.: Explicit model predictive control for trajectory tracking with mobile robots. In: 2011 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), pp. 712–717 (2011). IEEE Liu et al. [2022] Liu, X., Wang, W., Li, X., Liu, F., He, Z., Yao, Y., Ruan, H., Zhang, T.: Mpc-based high-speed trajectory tracking for 4wis robot. ISA transactions 123, 413–424 (2022) Kanjanawanishkul and Zell [2009] Kanjanawanishkul, K., Zell, A.: Path following for an omnidirectional mobile robot based on model predictive control. In: 2009 IEEE International Conference on Robotics and Automation, pp. 3341–3346 (2009). IEEE Yang et al. [2018] Yang, H., Guo, M., Xia, Y., Cheng, L.: Trajectory tracking for wheeled mobile robots via model predictive control with softening constraints. IET Control Theory & Applications 12(2), 206–214 (2018) Nascimento et al. [2018] Nascimento, T.P., Dórea, C.E.T., Gonçalves, L.M.G.: Nonlinear model predictive control for trajectory tracking of nonholonomic mobile robots: A modified approach. International Journal of Advanced Robotic Systems 15(1), 1729881418760461 (2018) Pacheco and Luo [2015] Pacheco, L., Luo, N.: Testing pid and mpc performance for mobile robot local path-following. International Journal of Advanced Robotic Systems 12(11), 155 (2015) Mayne [2014] Mayne, D.Q.: Model predictive control: Recent developments and future promise. Automatica 50(12), 2967–2986 (2014) Bai et al. [2019] Bai, G., Meng, Y., Liu, L., Luo, W., Gu, Q., Liu, L.: Review and comparison of path tracking based on model predictive control. Electronics 8(10), 1077 (2019) Conceição et al. [2007] Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Karur, K., Sharma, N., Dharmatti, C., Siegel, J.E.: A survey of path planning algorithms for mobile robots. Vehicles 3(3), 448–468 (2021) Ravankar et al. [2018] Ravankar, A., Ravankar, A.A., Kobayashi, Y., Hoshino, Y., Peng, C.-C.: Path smoothing techniques in robot navigation: State-of-the-art, current and future challenges. Sensors 18(9), 3170 (2018) Somwanshi et al. [2019] Somwanshi, D., Bundele, M., Kumar, G., Parashar, G.: Comparison of fuzzy-pid and pid controller for speed control of dc motor using labview. Procedia Computer Science 152, 252–260 (2019) Lee et al. [2018] Lee, K., Im, D.-Y., Kwak, B., Ryoo, Y.-J., et al.: Design of fuzzy-pid controller for path tracking of mobile robot with differential drive. International Journal of Fuzzy Logic and Intelligent Systems 18(3), 220–228 (2018) Jiang and Jiang [2012] Jiang, W., Jiang, X.: Design of an intelligent temperature control system based on the fuzzy self-tuning pid. Procedia Engineering 43, 307–311 (2012) Bansal and Narvey [2013] Bansal, U.K., Narvey, R.: Speed control of dc motor using fuzzy pid controller. Advance in Electronic and Electric Engineering 3(9), 1209–1220 (2013) Chao et al. [2019] Chao, C.-T., Sutarna, N., Chiou, J.-S., Wang, C.-J.: An optimal fuzzy pid controller design based on conventional pid control and nonlinear factors. Applied Sciences 9(6), 1224 (2019) Nour et al. [2007] Nour, M., Ooi, J., Chan, K.: Fuzzy logic control vs. conventional pid control of an inverted pendulum robot. In: 2007 International Conference on Intelligent and Advanced Systems, pp. 209–214 (2007). IEEE Alouache and Wu [2018] Alouache, A., Wu, Q.: Fuzzy logic pd controller for trajectory tracking of an autonomous differential drive mobile robot (ie quanser qbot). Industrial Robot: An International Journal 45(1), 23–33 (2018) Hashemi et al. [2011] Hashemi, E., Jadidi, M.G., Jadidi, N.G.: Model-based pi–fuzzy control of four-wheeled omni-directional mobile robots. Robotics and Autonomous Systems 59(11), 930–942 (2011) Abiyev et al. [2017] Abiyev, R.H., Günsel, I.S., Akkaya, N., Aytac, E., Çağman, A., Abizada, S.: Fuzzy control of omnidirectional robot. Procedia Computer Science 120, 608–616 (2017) Vu et al. [2021] Vu, T.M., Moezzi, R., Cyrus, J., Hlava, J.: Model predictive control for autonomous driving vehicles. Electronics 10(21), 2593 (2021) Maurović et al. [2011] Maurović, I., Baotić, M., Petrović, I.: Explicit model predictive control for trajectory tracking with mobile robots. In: 2011 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), pp. 712–717 (2011). IEEE Liu et al. [2022] Liu, X., Wang, W., Li, X., Liu, F., He, Z., Yao, Y., Ruan, H., Zhang, T.: Mpc-based high-speed trajectory tracking for 4wis robot. ISA transactions 123, 413–424 (2022) Kanjanawanishkul and Zell [2009] Kanjanawanishkul, K., Zell, A.: Path following for an omnidirectional mobile robot based on model predictive control. In: 2009 IEEE International Conference on Robotics and Automation, pp. 3341–3346 (2009). IEEE Yang et al. [2018] Yang, H., Guo, M., Xia, Y., Cheng, L.: Trajectory tracking for wheeled mobile robots via model predictive control with softening constraints. IET Control Theory & Applications 12(2), 206–214 (2018) Nascimento et al. [2018] Nascimento, T.P., Dórea, C.E.T., Gonçalves, L.M.G.: Nonlinear model predictive control for trajectory tracking of nonholonomic mobile robots: A modified approach. International Journal of Advanced Robotic Systems 15(1), 1729881418760461 (2018) Pacheco and Luo [2015] Pacheco, L., Luo, N.: Testing pid and mpc performance for mobile robot local path-following. International Journal of Advanced Robotic Systems 12(11), 155 (2015) Mayne [2014] Mayne, D.Q.: Model predictive control: Recent developments and future promise. Automatica 50(12), 2967–2986 (2014) Bai et al. [2019] Bai, G., Meng, Y., Liu, L., Luo, W., Gu, Q., Liu, L.: Review and comparison of path tracking based on model predictive control. Electronics 8(10), 1077 (2019) Conceição et al. [2007] Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Ravankar, A., Ravankar, A.A., Kobayashi, Y., Hoshino, Y., Peng, C.-C.: Path smoothing techniques in robot navigation: State-of-the-art, current and future challenges. Sensors 18(9), 3170 (2018) Somwanshi et al. [2019] Somwanshi, D., Bundele, M., Kumar, G., Parashar, G.: Comparison of fuzzy-pid and pid controller for speed control of dc motor using labview. Procedia Computer Science 152, 252–260 (2019) Lee et al. [2018] Lee, K., Im, D.-Y., Kwak, B., Ryoo, Y.-J., et al.: Design of fuzzy-pid controller for path tracking of mobile robot with differential drive. International Journal of Fuzzy Logic and Intelligent Systems 18(3), 220–228 (2018) Jiang and Jiang [2012] Jiang, W., Jiang, X.: Design of an intelligent temperature control system based on the fuzzy self-tuning pid. Procedia Engineering 43, 307–311 (2012) Bansal and Narvey [2013] Bansal, U.K., Narvey, R.: Speed control of dc motor using fuzzy pid controller. Advance in Electronic and Electric Engineering 3(9), 1209–1220 (2013) Chao et al. [2019] Chao, C.-T., Sutarna, N., Chiou, J.-S., Wang, C.-J.: An optimal fuzzy pid controller design based on conventional pid control and nonlinear factors. Applied Sciences 9(6), 1224 (2019) Nour et al. [2007] Nour, M., Ooi, J., Chan, K.: Fuzzy logic control vs. conventional pid control of an inverted pendulum robot. In: 2007 International Conference on Intelligent and Advanced Systems, pp. 209–214 (2007). IEEE Alouache and Wu [2018] Alouache, A., Wu, Q.: Fuzzy logic pd controller for trajectory tracking of an autonomous differential drive mobile robot (ie quanser qbot). Industrial Robot: An International Journal 45(1), 23–33 (2018) Hashemi et al. [2011] Hashemi, E., Jadidi, M.G., Jadidi, N.G.: Model-based pi–fuzzy control of four-wheeled omni-directional mobile robots. Robotics and Autonomous Systems 59(11), 930–942 (2011) Abiyev et al. [2017] Abiyev, R.H., Günsel, I.S., Akkaya, N., Aytac, E., Çağman, A., Abizada, S.: Fuzzy control of omnidirectional robot. Procedia Computer Science 120, 608–616 (2017) Vu et al. [2021] Vu, T.M., Moezzi, R., Cyrus, J., Hlava, J.: Model predictive control for autonomous driving vehicles. Electronics 10(21), 2593 (2021) Maurović et al. [2011] Maurović, I., Baotić, M., Petrović, I.: Explicit model predictive control for trajectory tracking with mobile robots. In: 2011 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), pp. 712–717 (2011). IEEE Liu et al. [2022] Liu, X., Wang, W., Li, X., Liu, F., He, Z., Yao, Y., Ruan, H., Zhang, T.: Mpc-based high-speed trajectory tracking for 4wis robot. ISA transactions 123, 413–424 (2022) Kanjanawanishkul and Zell [2009] Kanjanawanishkul, K., Zell, A.: Path following for an omnidirectional mobile robot based on model predictive control. In: 2009 IEEE International Conference on Robotics and Automation, pp. 3341–3346 (2009). IEEE Yang et al. [2018] Yang, H., Guo, M., Xia, Y., Cheng, L.: Trajectory tracking for wheeled mobile robots via model predictive control with softening constraints. IET Control Theory & Applications 12(2), 206–214 (2018) Nascimento et al. [2018] Nascimento, T.P., Dórea, C.E.T., Gonçalves, L.M.G.: Nonlinear model predictive control for trajectory tracking of nonholonomic mobile robots: A modified approach. International Journal of Advanced Robotic Systems 15(1), 1729881418760461 (2018) Pacheco and Luo [2015] Pacheco, L., Luo, N.: Testing pid and mpc performance for mobile robot local path-following. International Journal of Advanced Robotic Systems 12(11), 155 (2015) Mayne [2014] Mayne, D.Q.: Model predictive control: Recent developments and future promise. Automatica 50(12), 2967–2986 (2014) Bai et al. [2019] Bai, G., Meng, Y., Liu, L., Luo, W., Gu, Q., Liu, L.: Review and comparison of path tracking based on model predictive control. Electronics 8(10), 1077 (2019) Conceição et al. [2007] Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Somwanshi, D., Bundele, M., Kumar, G., Parashar, G.: Comparison of fuzzy-pid and pid controller for speed control of dc motor using labview. Procedia Computer Science 152, 252–260 (2019) Lee et al. [2018] Lee, K., Im, D.-Y., Kwak, B., Ryoo, Y.-J., et al.: Design of fuzzy-pid controller for path tracking of mobile robot with differential drive. International Journal of Fuzzy Logic and Intelligent Systems 18(3), 220–228 (2018) Jiang and Jiang [2012] Jiang, W., Jiang, X.: Design of an intelligent temperature control system based on the fuzzy self-tuning pid. Procedia Engineering 43, 307–311 (2012) Bansal and Narvey [2013] Bansal, U.K., Narvey, R.: Speed control of dc motor using fuzzy pid controller. Advance in Electronic and Electric Engineering 3(9), 1209–1220 (2013) Chao et al. [2019] Chao, C.-T., Sutarna, N., Chiou, J.-S., Wang, C.-J.: An optimal fuzzy pid controller design based on conventional pid control and nonlinear factors. Applied Sciences 9(6), 1224 (2019) Nour et al. [2007] Nour, M., Ooi, J., Chan, K.: Fuzzy logic control vs. conventional pid control of an inverted pendulum robot. In: 2007 International Conference on Intelligent and Advanced Systems, pp. 209–214 (2007). IEEE Alouache and Wu [2018] Alouache, A., Wu, Q.: Fuzzy logic pd controller for trajectory tracking of an autonomous differential drive mobile robot (ie quanser qbot). Industrial Robot: An International Journal 45(1), 23–33 (2018) Hashemi et al. [2011] Hashemi, E., Jadidi, M.G., Jadidi, N.G.: Model-based pi–fuzzy control of four-wheeled omni-directional mobile robots. Robotics and Autonomous Systems 59(11), 930–942 (2011) Abiyev et al. [2017] Abiyev, R.H., Günsel, I.S., Akkaya, N., Aytac, E., Çağman, A., Abizada, S.: Fuzzy control of omnidirectional robot. Procedia Computer Science 120, 608–616 (2017) Vu et al. [2021] Vu, T.M., Moezzi, R., Cyrus, J., Hlava, J.: Model predictive control for autonomous driving vehicles. Electronics 10(21), 2593 (2021) Maurović et al. [2011] Maurović, I., Baotić, M., Petrović, I.: Explicit model predictive control for trajectory tracking with mobile robots. In: 2011 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), pp. 712–717 (2011). IEEE Liu et al. [2022] Liu, X., Wang, W., Li, X., Liu, F., He, Z., Yao, Y., Ruan, H., Zhang, T.: Mpc-based high-speed trajectory tracking for 4wis robot. ISA transactions 123, 413–424 (2022) Kanjanawanishkul and Zell [2009] Kanjanawanishkul, K., Zell, A.: Path following for an omnidirectional mobile robot based on model predictive control. In: 2009 IEEE International Conference on Robotics and Automation, pp. 3341–3346 (2009). IEEE Yang et al. [2018] Yang, H., Guo, M., Xia, Y., Cheng, L.: Trajectory tracking for wheeled mobile robots via model predictive control with softening constraints. IET Control Theory & Applications 12(2), 206–214 (2018) Nascimento et al. [2018] Nascimento, T.P., Dórea, C.E.T., Gonçalves, L.M.G.: Nonlinear model predictive control for trajectory tracking of nonholonomic mobile robots: A modified approach. International Journal of Advanced Robotic Systems 15(1), 1729881418760461 (2018) Pacheco and Luo [2015] Pacheco, L., Luo, N.: Testing pid and mpc performance for mobile robot local path-following. International Journal of Advanced Robotic Systems 12(11), 155 (2015) Mayne [2014] Mayne, D.Q.: Model predictive control: Recent developments and future promise. Automatica 50(12), 2967–2986 (2014) Bai et al. [2019] Bai, G., Meng, Y., Liu, L., Luo, W., Gu, Q., Liu, L.: Review and comparison of path tracking based on model predictive control. Electronics 8(10), 1077 (2019) Conceição et al. [2007] Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Lee, K., Im, D.-Y., Kwak, B., Ryoo, Y.-J., et al.: Design of fuzzy-pid controller for path tracking of mobile robot with differential drive. International Journal of Fuzzy Logic and Intelligent Systems 18(3), 220–228 (2018) Jiang and Jiang [2012] Jiang, W., Jiang, X.: Design of an intelligent temperature control system based on the fuzzy self-tuning pid. Procedia Engineering 43, 307–311 (2012) Bansal and Narvey [2013] Bansal, U.K., Narvey, R.: Speed control of dc motor using fuzzy pid controller. Advance in Electronic and Electric Engineering 3(9), 1209–1220 (2013) Chao et al. [2019] Chao, C.-T., Sutarna, N., Chiou, J.-S., Wang, C.-J.: An optimal fuzzy pid controller design based on conventional pid control and nonlinear factors. Applied Sciences 9(6), 1224 (2019) Nour et al. [2007] Nour, M., Ooi, J., Chan, K.: Fuzzy logic control vs. conventional pid control of an inverted pendulum robot. In: 2007 International Conference on Intelligent and Advanced Systems, pp. 209–214 (2007). IEEE Alouache and Wu [2018] Alouache, A., Wu, Q.: Fuzzy logic pd controller for trajectory tracking of an autonomous differential drive mobile robot (ie quanser qbot). Industrial Robot: An International Journal 45(1), 23–33 (2018) Hashemi et al. [2011] Hashemi, E., Jadidi, M.G., Jadidi, N.G.: Model-based pi–fuzzy control of four-wheeled omni-directional mobile robots. Robotics and Autonomous Systems 59(11), 930–942 (2011) Abiyev et al. [2017] Abiyev, R.H., Günsel, I.S., Akkaya, N., Aytac, E., Çağman, A., Abizada, S.: Fuzzy control of omnidirectional robot. Procedia Computer Science 120, 608–616 (2017) Vu et al. [2021] Vu, T.M., Moezzi, R., Cyrus, J., Hlava, J.: Model predictive control for autonomous driving vehicles. Electronics 10(21), 2593 (2021) Maurović et al. [2011] Maurović, I., Baotić, M., Petrović, I.: Explicit model predictive control for trajectory tracking with mobile robots. In: 2011 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), pp. 712–717 (2011). IEEE Liu et al. [2022] Liu, X., Wang, W., Li, X., Liu, F., He, Z., Yao, Y., Ruan, H., Zhang, T.: Mpc-based high-speed trajectory tracking for 4wis robot. ISA transactions 123, 413–424 (2022) Kanjanawanishkul and Zell [2009] Kanjanawanishkul, K., Zell, A.: Path following for an omnidirectional mobile robot based on model predictive control. In: 2009 IEEE International Conference on Robotics and Automation, pp. 3341–3346 (2009). IEEE Yang et al. [2018] Yang, H., Guo, M., Xia, Y., Cheng, L.: Trajectory tracking for wheeled mobile robots via model predictive control with softening constraints. IET Control Theory & Applications 12(2), 206–214 (2018) Nascimento et al. [2018] Nascimento, T.P., Dórea, C.E.T., Gonçalves, L.M.G.: Nonlinear model predictive control for trajectory tracking of nonholonomic mobile robots: A modified approach. International Journal of Advanced Robotic Systems 15(1), 1729881418760461 (2018) Pacheco and Luo [2015] Pacheco, L., Luo, N.: Testing pid and mpc performance for mobile robot local path-following. International Journal of Advanced Robotic Systems 12(11), 155 (2015) Mayne [2014] Mayne, D.Q.: Model predictive control: Recent developments and future promise. Automatica 50(12), 2967–2986 (2014) Bai et al. [2019] Bai, G., Meng, Y., Liu, L., Luo, W., Gu, Q., Liu, L.: Review and comparison of path tracking based on model predictive control. Electronics 8(10), 1077 (2019) Conceição et al. [2007] Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Jiang, W., Jiang, X.: Design of an intelligent temperature control system based on the fuzzy self-tuning pid. Procedia Engineering 43, 307–311 (2012) Bansal and Narvey [2013] Bansal, U.K., Narvey, R.: Speed control of dc motor using fuzzy pid controller. Advance in Electronic and Electric Engineering 3(9), 1209–1220 (2013) Chao et al. [2019] Chao, C.-T., Sutarna, N., Chiou, J.-S., Wang, C.-J.: An optimal fuzzy pid controller design based on conventional pid control and nonlinear factors. Applied Sciences 9(6), 1224 (2019) Nour et al. [2007] Nour, M., Ooi, J., Chan, K.: Fuzzy logic control vs. conventional pid control of an inverted pendulum robot. In: 2007 International Conference on Intelligent and Advanced Systems, pp. 209–214 (2007). IEEE Alouache and Wu [2018] Alouache, A., Wu, Q.: Fuzzy logic pd controller for trajectory tracking of an autonomous differential drive mobile robot (ie quanser qbot). Industrial Robot: An International Journal 45(1), 23–33 (2018) Hashemi et al. [2011] Hashemi, E., Jadidi, M.G., Jadidi, N.G.: Model-based pi–fuzzy control of four-wheeled omni-directional mobile robots. Robotics and Autonomous Systems 59(11), 930–942 (2011) Abiyev et al. [2017] Abiyev, R.H., Günsel, I.S., Akkaya, N., Aytac, E., Çağman, A., Abizada, S.: Fuzzy control of omnidirectional robot. Procedia Computer Science 120, 608–616 (2017) Vu et al. [2021] Vu, T.M., Moezzi, R., Cyrus, J., Hlava, J.: Model predictive control for autonomous driving vehicles. Electronics 10(21), 2593 (2021) Maurović et al. [2011] Maurović, I., Baotić, M., Petrović, I.: Explicit model predictive control for trajectory tracking with mobile robots. In: 2011 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), pp. 712–717 (2011). IEEE Liu et al. [2022] Liu, X., Wang, W., Li, X., Liu, F., He, Z., Yao, Y., Ruan, H., Zhang, T.: Mpc-based high-speed trajectory tracking for 4wis robot. ISA transactions 123, 413–424 (2022) Kanjanawanishkul and Zell [2009] Kanjanawanishkul, K., Zell, A.: Path following for an omnidirectional mobile robot based on model predictive control. In: 2009 IEEE International Conference on Robotics and Automation, pp. 3341–3346 (2009). IEEE Yang et al. [2018] Yang, H., Guo, M., Xia, Y., Cheng, L.: Trajectory tracking for wheeled mobile robots via model predictive control with softening constraints. IET Control Theory & Applications 12(2), 206–214 (2018) Nascimento et al. [2018] Nascimento, T.P., Dórea, C.E.T., Gonçalves, L.M.G.: Nonlinear model predictive control for trajectory tracking of nonholonomic mobile robots: A modified approach. International Journal of Advanced Robotic Systems 15(1), 1729881418760461 (2018) Pacheco and Luo [2015] Pacheco, L., Luo, N.: Testing pid and mpc performance for mobile robot local path-following. International Journal of Advanced Robotic Systems 12(11), 155 (2015) Mayne [2014] Mayne, D.Q.: Model predictive control: Recent developments and future promise. Automatica 50(12), 2967–2986 (2014) Bai et al. [2019] Bai, G., Meng, Y., Liu, L., Luo, W., Gu, Q., Liu, L.: Review and comparison of path tracking based on model predictive control. Electronics 8(10), 1077 (2019) Conceição et al. [2007] Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Bansal, U.K., Narvey, R.: Speed control of dc motor using fuzzy pid controller. Advance in Electronic and Electric Engineering 3(9), 1209–1220 (2013) Chao et al. [2019] Chao, C.-T., Sutarna, N., Chiou, J.-S., Wang, C.-J.: An optimal fuzzy pid controller design based on conventional pid control and nonlinear factors. Applied Sciences 9(6), 1224 (2019) Nour et al. [2007] Nour, M., Ooi, J., Chan, K.: Fuzzy logic control vs. conventional pid control of an inverted pendulum robot. In: 2007 International Conference on Intelligent and Advanced Systems, pp. 209–214 (2007). IEEE Alouache and Wu [2018] Alouache, A., Wu, Q.: Fuzzy logic pd controller for trajectory tracking of an autonomous differential drive mobile robot (ie quanser qbot). Industrial Robot: An International Journal 45(1), 23–33 (2018) Hashemi et al. [2011] Hashemi, E., Jadidi, M.G., Jadidi, N.G.: Model-based pi–fuzzy control of four-wheeled omni-directional mobile robots. Robotics and Autonomous Systems 59(11), 930–942 (2011) Abiyev et al. [2017] Abiyev, R.H., Günsel, I.S., Akkaya, N., Aytac, E., Çağman, A., Abizada, S.: Fuzzy control of omnidirectional robot. Procedia Computer Science 120, 608–616 (2017) Vu et al. [2021] Vu, T.M., Moezzi, R., Cyrus, J., Hlava, J.: Model predictive control for autonomous driving vehicles. Electronics 10(21), 2593 (2021) Maurović et al. [2011] Maurović, I., Baotić, M., Petrović, I.: Explicit model predictive control for trajectory tracking with mobile robots. In: 2011 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), pp. 712–717 (2011). IEEE Liu et al. [2022] Liu, X., Wang, W., Li, X., Liu, F., He, Z., Yao, Y., Ruan, H., Zhang, T.: Mpc-based high-speed trajectory tracking for 4wis robot. ISA transactions 123, 413–424 (2022) Kanjanawanishkul and Zell [2009] Kanjanawanishkul, K., Zell, A.: Path following for an omnidirectional mobile robot based on model predictive control. In: 2009 IEEE International Conference on Robotics and Automation, pp. 3341–3346 (2009). IEEE Yang et al. [2018] Yang, H., Guo, M., Xia, Y., Cheng, L.: Trajectory tracking for wheeled mobile robots via model predictive control with softening constraints. IET Control Theory & Applications 12(2), 206–214 (2018) Nascimento et al. [2018] Nascimento, T.P., Dórea, C.E.T., Gonçalves, L.M.G.: Nonlinear model predictive control for trajectory tracking of nonholonomic mobile robots: A modified approach. International Journal of Advanced Robotic Systems 15(1), 1729881418760461 (2018) Pacheco and Luo [2015] Pacheco, L., Luo, N.: Testing pid and mpc performance for mobile robot local path-following. International Journal of Advanced Robotic Systems 12(11), 155 (2015) Mayne [2014] Mayne, D.Q.: Model predictive control: Recent developments and future promise. Automatica 50(12), 2967–2986 (2014) Bai et al. [2019] Bai, G., Meng, Y., Liu, L., Luo, W., Gu, Q., Liu, L.: Review and comparison of path tracking based on model predictive control. Electronics 8(10), 1077 (2019) Conceição et al. [2007] Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Chao, C.-T., Sutarna, N., Chiou, J.-S., Wang, C.-J.: An optimal fuzzy pid controller design based on conventional pid control and nonlinear factors. Applied Sciences 9(6), 1224 (2019) Nour et al. [2007] Nour, M., Ooi, J., Chan, K.: Fuzzy logic control vs. conventional pid control of an inverted pendulum robot. In: 2007 International Conference on Intelligent and Advanced Systems, pp. 209–214 (2007). IEEE Alouache and Wu [2018] Alouache, A., Wu, Q.: Fuzzy logic pd controller for trajectory tracking of an autonomous differential drive mobile robot (ie quanser qbot). Industrial Robot: An International Journal 45(1), 23–33 (2018) Hashemi et al. [2011] Hashemi, E., Jadidi, M.G., Jadidi, N.G.: Model-based pi–fuzzy control of four-wheeled omni-directional mobile robots. Robotics and Autonomous Systems 59(11), 930–942 (2011) Abiyev et al. [2017] Abiyev, R.H., Günsel, I.S., Akkaya, N., Aytac, E., Çağman, A., Abizada, S.: Fuzzy control of omnidirectional robot. Procedia Computer Science 120, 608–616 (2017) Vu et al. [2021] Vu, T.M., Moezzi, R., Cyrus, J., Hlava, J.: Model predictive control for autonomous driving vehicles. Electronics 10(21), 2593 (2021) Maurović et al. [2011] Maurović, I., Baotić, M., Petrović, I.: Explicit model predictive control for trajectory tracking with mobile robots. In: 2011 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), pp. 712–717 (2011). IEEE Liu et al. [2022] Liu, X., Wang, W., Li, X., Liu, F., He, Z., Yao, Y., Ruan, H., Zhang, T.: Mpc-based high-speed trajectory tracking for 4wis robot. ISA transactions 123, 413–424 (2022) Kanjanawanishkul and Zell [2009] Kanjanawanishkul, K., Zell, A.: Path following for an omnidirectional mobile robot based on model predictive control. In: 2009 IEEE International Conference on Robotics and Automation, pp. 3341–3346 (2009). IEEE Yang et al. [2018] Yang, H., Guo, M., Xia, Y., Cheng, L.: Trajectory tracking for wheeled mobile robots via model predictive control with softening constraints. IET Control Theory & Applications 12(2), 206–214 (2018) Nascimento et al. [2018] Nascimento, T.P., Dórea, C.E.T., Gonçalves, L.M.G.: Nonlinear model predictive control for trajectory tracking of nonholonomic mobile robots: A modified approach. International Journal of Advanced Robotic Systems 15(1), 1729881418760461 (2018) Pacheco and Luo [2015] Pacheco, L., Luo, N.: Testing pid and mpc performance for mobile robot local path-following. International Journal of Advanced Robotic Systems 12(11), 155 (2015) Mayne [2014] Mayne, D.Q.: Model predictive control: Recent developments and future promise. Automatica 50(12), 2967–2986 (2014) Bai et al. [2019] Bai, G., Meng, Y., Liu, L., Luo, W., Gu, Q., Liu, L.: Review and comparison of path tracking based on model predictive control. Electronics 8(10), 1077 (2019) Conceição et al. [2007] Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Nour, M., Ooi, J., Chan, K.: Fuzzy logic control vs. conventional pid control of an inverted pendulum robot. In: 2007 International Conference on Intelligent and Advanced Systems, pp. 209–214 (2007). IEEE Alouache and Wu [2018] Alouache, A., Wu, Q.: Fuzzy logic pd controller for trajectory tracking of an autonomous differential drive mobile robot (ie quanser qbot). Industrial Robot: An International Journal 45(1), 23–33 (2018) Hashemi et al. [2011] Hashemi, E., Jadidi, M.G., Jadidi, N.G.: Model-based pi–fuzzy control of four-wheeled omni-directional mobile robots. Robotics and Autonomous Systems 59(11), 930–942 (2011) Abiyev et al. [2017] Abiyev, R.H., Günsel, I.S., Akkaya, N., Aytac, E., Çağman, A., Abizada, S.: Fuzzy control of omnidirectional robot. Procedia Computer Science 120, 608–616 (2017) Vu et al. [2021] Vu, T.M., Moezzi, R., Cyrus, J., Hlava, J.: Model predictive control for autonomous driving vehicles. Electronics 10(21), 2593 (2021) Maurović et al. [2011] Maurović, I., Baotić, M., Petrović, I.: Explicit model predictive control for trajectory tracking with mobile robots. In: 2011 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), pp. 712–717 (2011). IEEE Liu et al. [2022] Liu, X., Wang, W., Li, X., Liu, F., He, Z., Yao, Y., Ruan, H., Zhang, T.: Mpc-based high-speed trajectory tracking for 4wis robot. ISA transactions 123, 413–424 (2022) Kanjanawanishkul and Zell [2009] Kanjanawanishkul, K., Zell, A.: Path following for an omnidirectional mobile robot based on model predictive control. In: 2009 IEEE International Conference on Robotics and Automation, pp. 3341–3346 (2009). IEEE Yang et al. [2018] Yang, H., Guo, M., Xia, Y., Cheng, L.: Trajectory tracking for wheeled mobile robots via model predictive control with softening constraints. IET Control Theory & Applications 12(2), 206–214 (2018) Nascimento et al. [2018] Nascimento, T.P., Dórea, C.E.T., Gonçalves, L.M.G.: Nonlinear model predictive control for trajectory tracking of nonholonomic mobile robots: A modified approach. International Journal of Advanced Robotic Systems 15(1), 1729881418760461 (2018) Pacheco and Luo [2015] Pacheco, L., Luo, N.: Testing pid and mpc performance for mobile robot local path-following. International Journal of Advanced Robotic Systems 12(11), 155 (2015) Mayne [2014] Mayne, D.Q.: Model predictive control: Recent developments and future promise. Automatica 50(12), 2967–2986 (2014) Bai et al. [2019] Bai, G., Meng, Y., Liu, L., Luo, W., Gu, Q., Liu, L.: Review and comparison of path tracking based on model predictive control. Electronics 8(10), 1077 (2019) Conceição et al. [2007] Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Alouache, A., Wu, Q.: Fuzzy logic pd controller for trajectory tracking of an autonomous differential drive mobile robot (ie quanser qbot). Industrial Robot: An International Journal 45(1), 23–33 (2018) Hashemi et al. [2011] Hashemi, E., Jadidi, M.G., Jadidi, N.G.: Model-based pi–fuzzy control of four-wheeled omni-directional mobile robots. Robotics and Autonomous Systems 59(11), 930–942 (2011) Abiyev et al. [2017] Abiyev, R.H., Günsel, I.S., Akkaya, N., Aytac, E., Çağman, A., Abizada, S.: Fuzzy control of omnidirectional robot. Procedia Computer Science 120, 608–616 (2017) Vu et al. [2021] Vu, T.M., Moezzi, R., Cyrus, J., Hlava, J.: Model predictive control for autonomous driving vehicles. Electronics 10(21), 2593 (2021) Maurović et al. [2011] Maurović, I., Baotić, M., Petrović, I.: Explicit model predictive control for trajectory tracking with mobile robots. In: 2011 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), pp. 712–717 (2011). IEEE Liu et al. [2022] Liu, X., Wang, W., Li, X., Liu, F., He, Z., Yao, Y., Ruan, H., Zhang, T.: Mpc-based high-speed trajectory tracking for 4wis robot. ISA transactions 123, 413–424 (2022) Kanjanawanishkul and Zell [2009] Kanjanawanishkul, K., Zell, A.: Path following for an omnidirectional mobile robot based on model predictive control. In: 2009 IEEE International Conference on Robotics and Automation, pp. 3341–3346 (2009). IEEE Yang et al. [2018] Yang, H., Guo, M., Xia, Y., Cheng, L.: Trajectory tracking for wheeled mobile robots via model predictive control with softening constraints. IET Control Theory & Applications 12(2), 206–214 (2018) Nascimento et al. [2018] Nascimento, T.P., Dórea, C.E.T., Gonçalves, L.M.G.: Nonlinear model predictive control for trajectory tracking of nonholonomic mobile robots: A modified approach. International Journal of Advanced Robotic Systems 15(1), 1729881418760461 (2018) Pacheco and Luo [2015] Pacheco, L., Luo, N.: Testing pid and mpc performance for mobile robot local path-following. International Journal of Advanced Robotic Systems 12(11), 155 (2015) Mayne [2014] Mayne, D.Q.: Model predictive control: Recent developments and future promise. Automatica 50(12), 2967–2986 (2014) Bai et al. [2019] Bai, G., Meng, Y., Liu, L., Luo, W., Gu, Q., Liu, L.: Review and comparison of path tracking based on model predictive control. Electronics 8(10), 1077 (2019) Conceição et al. [2007] Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Hashemi, E., Jadidi, M.G., Jadidi, N.G.: Model-based pi–fuzzy control of four-wheeled omni-directional mobile robots. Robotics and Autonomous Systems 59(11), 930–942 (2011) Abiyev et al. [2017] Abiyev, R.H., Günsel, I.S., Akkaya, N., Aytac, E., Çağman, A., Abizada, S.: Fuzzy control of omnidirectional robot. Procedia Computer Science 120, 608–616 (2017) Vu et al. [2021] Vu, T.M., Moezzi, R., Cyrus, J., Hlava, J.: Model predictive control for autonomous driving vehicles. Electronics 10(21), 2593 (2021) Maurović et al. [2011] Maurović, I., Baotić, M., Petrović, I.: Explicit model predictive control for trajectory tracking with mobile robots. In: 2011 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), pp. 712–717 (2011). IEEE Liu et al. [2022] Liu, X., Wang, W., Li, X., Liu, F., He, Z., Yao, Y., Ruan, H., Zhang, T.: Mpc-based high-speed trajectory tracking for 4wis robot. ISA transactions 123, 413–424 (2022) Kanjanawanishkul and Zell [2009] Kanjanawanishkul, K., Zell, A.: Path following for an omnidirectional mobile robot based on model predictive control. In: 2009 IEEE International Conference on Robotics and Automation, pp. 3341–3346 (2009). IEEE Yang et al. [2018] Yang, H., Guo, M., Xia, Y., Cheng, L.: Trajectory tracking for wheeled mobile robots via model predictive control with softening constraints. IET Control Theory & Applications 12(2), 206–214 (2018) Nascimento et al. [2018] Nascimento, T.P., Dórea, C.E.T., Gonçalves, L.M.G.: Nonlinear model predictive control for trajectory tracking of nonholonomic mobile robots: A modified approach. International Journal of Advanced Robotic Systems 15(1), 1729881418760461 (2018) Pacheco and Luo [2015] Pacheco, L., Luo, N.: Testing pid and mpc performance for mobile robot local path-following. International Journal of Advanced Robotic Systems 12(11), 155 (2015) Mayne [2014] Mayne, D.Q.: Model predictive control: Recent developments and future promise. Automatica 50(12), 2967–2986 (2014) Bai et al. [2019] Bai, G., Meng, Y., Liu, L., Luo, W., Gu, Q., Liu, L.: Review and comparison of path tracking based on model predictive control. Electronics 8(10), 1077 (2019) Conceição et al. [2007] Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Abiyev, R.H., Günsel, I.S., Akkaya, N., Aytac, E., Çağman, A., Abizada, S.: Fuzzy control of omnidirectional robot. Procedia Computer Science 120, 608–616 (2017) Vu et al. [2021] Vu, T.M., Moezzi, R., Cyrus, J., Hlava, J.: Model predictive control for autonomous driving vehicles. Electronics 10(21), 2593 (2021) Maurović et al. [2011] Maurović, I., Baotić, M., Petrović, I.: Explicit model predictive control for trajectory tracking with mobile robots. In: 2011 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), pp. 712–717 (2011). IEEE Liu et al. [2022] Liu, X., Wang, W., Li, X., Liu, F., He, Z., Yao, Y., Ruan, H., Zhang, T.: Mpc-based high-speed trajectory tracking for 4wis robot. ISA transactions 123, 413–424 (2022) Kanjanawanishkul and Zell [2009] Kanjanawanishkul, K., Zell, A.: Path following for an omnidirectional mobile robot based on model predictive control. In: 2009 IEEE International Conference on Robotics and Automation, pp. 3341–3346 (2009). IEEE Yang et al. [2018] Yang, H., Guo, M., Xia, Y., Cheng, L.: Trajectory tracking for wheeled mobile robots via model predictive control with softening constraints. IET Control Theory & Applications 12(2), 206–214 (2018) Nascimento et al. [2018] Nascimento, T.P., Dórea, C.E.T., Gonçalves, L.M.G.: Nonlinear model predictive control for trajectory tracking of nonholonomic mobile robots: A modified approach. International Journal of Advanced Robotic Systems 15(1), 1729881418760461 (2018) Pacheco and Luo [2015] Pacheco, L., Luo, N.: Testing pid and mpc performance for mobile robot local path-following. 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[2011] Maurović, I., Baotić, M., Petrović, I.: Explicit model predictive control for trajectory tracking with mobile robots. In: 2011 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), pp. 712–717 (2011). IEEE Liu et al. [2022] Liu, X., Wang, W., Li, X., Liu, F., He, Z., Yao, Y., Ruan, H., Zhang, T.: Mpc-based high-speed trajectory tracking for 4wis robot. ISA transactions 123, 413–424 (2022) Kanjanawanishkul and Zell [2009] Kanjanawanishkul, K., Zell, A.: Path following for an omnidirectional mobile robot based on model predictive control. In: 2009 IEEE International Conference on Robotics and Automation, pp. 3341–3346 (2009). IEEE Yang et al. [2018] Yang, H., Guo, M., Xia, Y., Cheng, L.: Trajectory tracking for wheeled mobile robots via model predictive control with softening constraints. IET Control Theory & Applications 12(2), 206–214 (2018) Nascimento et al. [2018] Nascimento, T.P., Dórea, C.E.T., Gonçalves, L.M.G.: Nonlinear model predictive control for trajectory tracking of nonholonomic mobile robots: A modified approach. International Journal of Advanced Robotic Systems 15(1), 1729881418760461 (2018) Pacheco and Luo [2015] Pacheco, L., Luo, N.: Testing pid and mpc performance for mobile robot local path-following. International Journal of Advanced Robotic Systems 12(11), 155 (2015) Mayne [2014] Mayne, D.Q.: Model predictive control: Recent developments and future promise. Automatica 50(12), 2967–2986 (2014) Bai et al. [2019] Bai, G., Meng, Y., Liu, L., Luo, W., Gu, Q., Liu, L.: Review and comparison of path tracking based on model predictive control. Electronics 8(10), 1077 (2019) Conceição et al. [2007] Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Maurović, I., Baotić, M., Petrović, I.: Explicit model predictive control for trajectory tracking with mobile robots. In: 2011 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), pp. 712–717 (2011). IEEE Liu et al. [2022] Liu, X., Wang, W., Li, X., Liu, F., He, Z., Yao, Y., Ruan, H., Zhang, T.: Mpc-based high-speed trajectory tracking for 4wis robot. ISA transactions 123, 413–424 (2022) Kanjanawanishkul and Zell [2009] Kanjanawanishkul, K., Zell, A.: Path following for an omnidirectional mobile robot based on model predictive control. In: 2009 IEEE International Conference on Robotics and Automation, pp. 3341–3346 (2009). IEEE Yang et al. [2018] Yang, H., Guo, M., Xia, Y., Cheng, L.: Trajectory tracking for wheeled mobile robots via model predictive control with softening constraints. IET Control Theory & Applications 12(2), 206–214 (2018) Nascimento et al. [2018] Nascimento, T.P., Dórea, C.E.T., Gonçalves, L.M.G.: Nonlinear model predictive control for trajectory tracking of nonholonomic mobile robots: A modified approach. International Journal of Advanced Robotic Systems 15(1), 1729881418760461 (2018) Pacheco and Luo [2015] Pacheco, L., Luo, N.: Testing pid and mpc performance for mobile robot local path-following. International Journal of Advanced Robotic Systems 12(11), 155 (2015) Mayne [2014] Mayne, D.Q.: Model predictive control: Recent developments and future promise. Automatica 50(12), 2967–2986 (2014) Bai et al. [2019] Bai, G., Meng, Y., Liu, L., Luo, W., Gu, Q., Liu, L.: Review and comparison of path tracking based on model predictive control. Electronics 8(10), 1077 (2019) Conceição et al. [2007] Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Liu, X., Wang, W., Li, X., Liu, F., He, Z., Yao, Y., Ruan, H., Zhang, T.: Mpc-based high-speed trajectory tracking for 4wis robot. ISA transactions 123, 413–424 (2022) Kanjanawanishkul and Zell [2009] Kanjanawanishkul, K., Zell, A.: Path following for an omnidirectional mobile robot based on model predictive control. In: 2009 IEEE International Conference on Robotics and Automation, pp. 3341–3346 (2009). IEEE Yang et al. [2018] Yang, H., Guo, M., Xia, Y., Cheng, L.: Trajectory tracking for wheeled mobile robots via model predictive control with softening constraints. IET Control Theory & Applications 12(2), 206–214 (2018) Nascimento et al. [2018] Nascimento, T.P., Dórea, C.E.T., Gonçalves, L.M.G.: Nonlinear model predictive control for trajectory tracking of nonholonomic mobile robots: A modified approach. International Journal of Advanced Robotic Systems 15(1), 1729881418760461 (2018) Pacheco and Luo [2015] Pacheco, L., Luo, N.: Testing pid and mpc performance for mobile robot local path-following. International Journal of Advanced Robotic Systems 12(11), 155 (2015) Mayne [2014] Mayne, D.Q.: Model predictive control: Recent developments and future promise. Automatica 50(12), 2967–2986 (2014) Bai et al. [2019] Bai, G., Meng, Y., Liu, L., Luo, W., Gu, Q., Liu, L.: Review and comparison of path tracking based on model predictive control. Electronics 8(10), 1077 (2019) Conceição et al. [2007] Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Kanjanawanishkul, K., Zell, A.: Path following for an omnidirectional mobile robot based on model predictive control. In: 2009 IEEE International Conference on Robotics and Automation, pp. 3341–3346 (2009). IEEE Yang et al. [2018] Yang, H., Guo, M., Xia, Y., Cheng, L.: Trajectory tracking for wheeled mobile robots via model predictive control with softening constraints. IET Control Theory & Applications 12(2), 206–214 (2018) Nascimento et al. [2018] Nascimento, T.P., Dórea, C.E.T., Gonçalves, L.M.G.: Nonlinear model predictive control for trajectory tracking of nonholonomic mobile robots: A modified approach. International Journal of Advanced Robotic Systems 15(1), 1729881418760461 (2018) Pacheco and Luo [2015] Pacheco, L., Luo, N.: Testing pid and mpc performance for mobile robot local path-following. International Journal of Advanced Robotic Systems 12(11), 155 (2015) Mayne [2014] Mayne, D.Q.: Model predictive control: Recent developments and future promise. Automatica 50(12), 2967–2986 (2014) Bai et al. [2019] Bai, G., Meng, Y., Liu, L., Luo, W., Gu, Q., Liu, L.: Review and comparison of path tracking based on model predictive control. Electronics 8(10), 1077 (2019) Conceição et al. [2007] Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Yang, H., Guo, M., Xia, Y., Cheng, L.: Trajectory tracking for wheeled mobile robots via model predictive control with softening constraints. IET Control Theory & Applications 12(2), 206–214 (2018) Nascimento et al. [2018] Nascimento, T.P., Dórea, C.E.T., Gonçalves, L.M.G.: Nonlinear model predictive control for trajectory tracking of nonholonomic mobile robots: A modified approach. International Journal of Advanced Robotic Systems 15(1), 1729881418760461 (2018) Pacheco and Luo [2015] Pacheco, L., Luo, N.: Testing pid and mpc performance for mobile robot local path-following. International Journal of Advanced Robotic Systems 12(11), 155 (2015) Mayne [2014] Mayne, D.Q.: Model predictive control: Recent developments and future promise. Automatica 50(12), 2967–2986 (2014) Bai et al. [2019] Bai, G., Meng, Y., Liu, L., Luo, W., Gu, Q., Liu, L.: Review and comparison of path tracking based on model predictive control. Electronics 8(10), 1077 (2019) Conceição et al. [2007] Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Nascimento, T.P., Dórea, C.E.T., Gonçalves, L.M.G.: Nonlinear model predictive control for trajectory tracking of nonholonomic mobile robots: A modified approach. International Journal of Advanced Robotic Systems 15(1), 1729881418760461 (2018) Pacheco and Luo [2015] Pacheco, L., Luo, N.: Testing pid and mpc performance for mobile robot local path-following. International Journal of Advanced Robotic Systems 12(11), 155 (2015) Mayne [2014] Mayne, D.Q.: Model predictive control: Recent developments and future promise. Automatica 50(12), 2967–2986 (2014) Bai et al. [2019] Bai, G., Meng, Y., Liu, L., Luo, W., Gu, Q., Liu, L.: Review and comparison of path tracking based on model predictive control. Electronics 8(10), 1077 (2019) Conceição et al. [2007] Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Pacheco, L., Luo, N.: Testing pid and mpc performance for mobile robot local path-following. International Journal of Advanced Robotic Systems 12(11), 155 (2015) Mayne [2014] Mayne, D.Q.: Model predictive control: Recent developments and future promise. Automatica 50(12), 2967–2986 (2014) Bai et al. [2019] Bai, G., Meng, Y., Liu, L., Luo, W., Gu, Q., Liu, L.: Review and comparison of path tracking based on model predictive control. Electronics 8(10), 1077 (2019) Conceição et al. [2007] Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Mayne, D.Q.: Model predictive control: Recent developments and future promise. Automatica 50(12), 2967–2986 (2014) Bai et al. [2019] Bai, G., Meng, Y., Liu, L., Luo, W., Gu, Q., Liu, L.: Review and comparison of path tracking based on model predictive control. Electronics 8(10), 1077 (2019) Conceição et al. [2007] Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Bai, G., Meng, Y., Liu, L., Luo, W., Gu, Q., Liu, L.: Review and comparison of path tracking based on model predictive control. Electronics 8(10), 1077 (2019) Conceição et al. [2007] Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019)
- Karur, K., Sharma, N., Dharmatti, C., Siegel, J.E.: A survey of path planning algorithms for mobile robots. Vehicles 3(3), 448–468 (2021) Ravankar et al. [2018] Ravankar, A., Ravankar, A.A., Kobayashi, Y., Hoshino, Y., Peng, C.-C.: Path smoothing techniques in robot navigation: State-of-the-art, current and future challenges. Sensors 18(9), 3170 (2018) Somwanshi et al. [2019] Somwanshi, D., Bundele, M., Kumar, G., Parashar, G.: Comparison of fuzzy-pid and pid controller for speed control of dc motor using labview. Procedia Computer Science 152, 252–260 (2019) Lee et al. [2018] Lee, K., Im, D.-Y., Kwak, B., Ryoo, Y.-J., et al.: Design of fuzzy-pid controller for path tracking of mobile robot with differential drive. International Journal of Fuzzy Logic and Intelligent Systems 18(3), 220–228 (2018) Jiang and Jiang [2012] Jiang, W., Jiang, X.: Design of an intelligent temperature control system based on the fuzzy self-tuning pid. Procedia Engineering 43, 307–311 (2012) Bansal and Narvey [2013] Bansal, U.K., Narvey, R.: Speed control of dc motor using fuzzy pid controller. Advance in Electronic and Electric Engineering 3(9), 1209–1220 (2013) Chao et al. [2019] Chao, C.-T., Sutarna, N., Chiou, J.-S., Wang, C.-J.: An optimal fuzzy pid controller design based on conventional pid control and nonlinear factors. Applied Sciences 9(6), 1224 (2019) Nour et al. [2007] Nour, M., Ooi, J., Chan, K.: Fuzzy logic control vs. conventional pid control of an inverted pendulum robot. In: 2007 International Conference on Intelligent and Advanced Systems, pp. 209–214 (2007). IEEE Alouache and Wu [2018] Alouache, A., Wu, Q.: Fuzzy logic pd controller for trajectory tracking of an autonomous differential drive mobile robot (ie quanser qbot). Industrial Robot: An International Journal 45(1), 23–33 (2018) Hashemi et al. [2011] Hashemi, E., Jadidi, M.G., Jadidi, N.G.: Model-based pi–fuzzy control of four-wheeled omni-directional mobile robots. Robotics and Autonomous Systems 59(11), 930–942 (2011) Abiyev et al. [2017] Abiyev, R.H., Günsel, I.S., Akkaya, N., Aytac, E., Çağman, A., Abizada, S.: Fuzzy control of omnidirectional robot. Procedia Computer Science 120, 608–616 (2017) Vu et al. [2021] Vu, T.M., Moezzi, R., Cyrus, J., Hlava, J.: Model predictive control for autonomous driving vehicles. Electronics 10(21), 2593 (2021) Maurović et al. [2011] Maurović, I., Baotić, M., Petrović, I.: Explicit model predictive control for trajectory tracking with mobile robots. In: 2011 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), pp. 712–717 (2011). IEEE Liu et al. [2022] Liu, X., Wang, W., Li, X., Liu, F., He, Z., Yao, Y., Ruan, H., Zhang, T.: Mpc-based high-speed trajectory tracking for 4wis robot. ISA transactions 123, 413–424 (2022) Kanjanawanishkul and Zell [2009] Kanjanawanishkul, K., Zell, A.: Path following for an omnidirectional mobile robot based on model predictive control. In: 2009 IEEE International Conference on Robotics and Automation, pp. 3341–3346 (2009). IEEE Yang et al. [2018] Yang, H., Guo, M., Xia, Y., Cheng, L.: Trajectory tracking for wheeled mobile robots via model predictive control with softening constraints. IET Control Theory & Applications 12(2), 206–214 (2018) Nascimento et al. [2018] Nascimento, T.P., Dórea, C.E.T., Gonçalves, L.M.G.: Nonlinear model predictive control for trajectory tracking of nonholonomic mobile robots: A modified approach. International Journal of Advanced Robotic Systems 15(1), 1729881418760461 (2018) Pacheco and Luo [2015] Pacheco, L., Luo, N.: Testing pid and mpc performance for mobile robot local path-following. International Journal of Advanced Robotic Systems 12(11), 155 (2015) Mayne [2014] Mayne, D.Q.: Model predictive control: Recent developments and future promise. Automatica 50(12), 2967–2986 (2014) Bai et al. [2019] Bai, G., Meng, Y., Liu, L., Luo, W., Gu, Q., Liu, L.: Review and comparison of path tracking based on model predictive control. Electronics 8(10), 1077 (2019) Conceição et al. [2007] Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Ravankar, A., Ravankar, A.A., Kobayashi, Y., Hoshino, Y., Peng, C.-C.: Path smoothing techniques in robot navigation: State-of-the-art, current and future challenges. Sensors 18(9), 3170 (2018) Somwanshi et al. [2019] Somwanshi, D., Bundele, M., Kumar, G., Parashar, G.: Comparison of fuzzy-pid and pid controller for speed control of dc motor using labview. Procedia Computer Science 152, 252–260 (2019) Lee et al. [2018] Lee, K., Im, D.-Y., Kwak, B., Ryoo, Y.-J., et al.: Design of fuzzy-pid controller for path tracking of mobile robot with differential drive. International Journal of Fuzzy Logic and Intelligent Systems 18(3), 220–228 (2018) Jiang and Jiang [2012] Jiang, W., Jiang, X.: Design of an intelligent temperature control system based on the fuzzy self-tuning pid. Procedia Engineering 43, 307–311 (2012) Bansal and Narvey [2013] Bansal, U.K., Narvey, R.: Speed control of dc motor using fuzzy pid controller. Advance in Electronic and Electric Engineering 3(9), 1209–1220 (2013) Chao et al. [2019] Chao, C.-T., Sutarna, N., Chiou, J.-S., Wang, C.-J.: An optimal fuzzy pid controller design based on conventional pid control and nonlinear factors. Applied Sciences 9(6), 1224 (2019) Nour et al. [2007] Nour, M., Ooi, J., Chan, K.: Fuzzy logic control vs. conventional pid control of an inverted pendulum robot. In: 2007 International Conference on Intelligent and Advanced Systems, pp. 209–214 (2007). IEEE Alouache and Wu [2018] Alouache, A., Wu, Q.: Fuzzy logic pd controller for trajectory tracking of an autonomous differential drive mobile robot (ie quanser qbot). Industrial Robot: An International Journal 45(1), 23–33 (2018) Hashemi et al. [2011] Hashemi, E., Jadidi, M.G., Jadidi, N.G.: Model-based pi–fuzzy control of four-wheeled omni-directional mobile robots. Robotics and Autonomous Systems 59(11), 930–942 (2011) Abiyev et al. [2017] Abiyev, R.H., Günsel, I.S., Akkaya, N., Aytac, E., Çağman, A., Abizada, S.: Fuzzy control of omnidirectional robot. Procedia Computer Science 120, 608–616 (2017) Vu et al. [2021] Vu, T.M., Moezzi, R., Cyrus, J., Hlava, J.: Model predictive control for autonomous driving vehicles. Electronics 10(21), 2593 (2021) Maurović et al. [2011] Maurović, I., Baotić, M., Petrović, I.: Explicit model predictive control for trajectory tracking with mobile robots. In: 2011 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), pp. 712–717 (2011). IEEE Liu et al. [2022] Liu, X., Wang, W., Li, X., Liu, F., He, Z., Yao, Y., Ruan, H., Zhang, T.: Mpc-based high-speed trajectory tracking for 4wis robot. ISA transactions 123, 413–424 (2022) Kanjanawanishkul and Zell [2009] Kanjanawanishkul, K., Zell, A.: Path following for an omnidirectional mobile robot based on model predictive control. In: 2009 IEEE International Conference on Robotics and Automation, pp. 3341–3346 (2009). IEEE Yang et al. [2018] Yang, H., Guo, M., Xia, Y., Cheng, L.: Trajectory tracking for wheeled mobile robots via model predictive control with softening constraints. IET Control Theory & Applications 12(2), 206–214 (2018) Nascimento et al. [2018] Nascimento, T.P., Dórea, C.E.T., Gonçalves, L.M.G.: Nonlinear model predictive control for trajectory tracking of nonholonomic mobile robots: A modified approach. International Journal of Advanced Robotic Systems 15(1), 1729881418760461 (2018) Pacheco and Luo [2015] Pacheco, L., Luo, N.: Testing pid and mpc performance for mobile robot local path-following. International Journal of Advanced Robotic Systems 12(11), 155 (2015) Mayne [2014] Mayne, D.Q.: Model predictive control: Recent developments and future promise. Automatica 50(12), 2967–2986 (2014) Bai et al. [2019] Bai, G., Meng, Y., Liu, L., Luo, W., Gu, Q., Liu, L.: Review and comparison of path tracking based on model predictive control. Electronics 8(10), 1077 (2019) Conceição et al. [2007] Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Somwanshi, D., Bundele, M., Kumar, G., Parashar, G.: Comparison of fuzzy-pid and pid controller for speed control of dc motor using labview. Procedia Computer Science 152, 252–260 (2019) Lee et al. [2018] Lee, K., Im, D.-Y., Kwak, B., Ryoo, Y.-J., et al.: Design of fuzzy-pid controller for path tracking of mobile robot with differential drive. International Journal of Fuzzy Logic and Intelligent Systems 18(3), 220–228 (2018) Jiang and Jiang [2012] Jiang, W., Jiang, X.: Design of an intelligent temperature control system based on the fuzzy self-tuning pid. Procedia Engineering 43, 307–311 (2012) Bansal and Narvey [2013] Bansal, U.K., Narvey, R.: Speed control of dc motor using fuzzy pid controller. Advance in Electronic and Electric Engineering 3(9), 1209–1220 (2013) Chao et al. [2019] Chao, C.-T., Sutarna, N., Chiou, J.-S., Wang, C.-J.: An optimal fuzzy pid controller design based on conventional pid control and nonlinear factors. Applied Sciences 9(6), 1224 (2019) Nour et al. [2007] Nour, M., Ooi, J., Chan, K.: Fuzzy logic control vs. conventional pid control of an inverted pendulum robot. In: 2007 International Conference on Intelligent and Advanced Systems, pp. 209–214 (2007). IEEE Alouache and Wu [2018] Alouache, A., Wu, Q.: Fuzzy logic pd controller for trajectory tracking of an autonomous differential drive mobile robot (ie quanser qbot). Industrial Robot: An International Journal 45(1), 23–33 (2018) Hashemi et al. [2011] Hashemi, E., Jadidi, M.G., Jadidi, N.G.: Model-based pi–fuzzy control of four-wheeled omni-directional mobile robots. Robotics and Autonomous Systems 59(11), 930–942 (2011) Abiyev et al. [2017] Abiyev, R.H., Günsel, I.S., Akkaya, N., Aytac, E., Çağman, A., Abizada, S.: Fuzzy control of omnidirectional robot. Procedia Computer Science 120, 608–616 (2017) Vu et al. [2021] Vu, T.M., Moezzi, R., Cyrus, J., Hlava, J.: Model predictive control for autonomous driving vehicles. Electronics 10(21), 2593 (2021) Maurović et al. [2011] Maurović, I., Baotić, M., Petrović, I.: Explicit model predictive control for trajectory tracking with mobile robots. In: 2011 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), pp. 712–717 (2011). IEEE Liu et al. [2022] Liu, X., Wang, W., Li, X., Liu, F., He, Z., Yao, Y., Ruan, H., Zhang, T.: Mpc-based high-speed trajectory tracking for 4wis robot. ISA transactions 123, 413–424 (2022) Kanjanawanishkul and Zell [2009] Kanjanawanishkul, K., Zell, A.: Path following for an omnidirectional mobile robot based on model predictive control. In: 2009 IEEE International Conference on Robotics and Automation, pp. 3341–3346 (2009). IEEE Yang et al. [2018] Yang, H., Guo, M., Xia, Y., Cheng, L.: Trajectory tracking for wheeled mobile robots via model predictive control with softening constraints. IET Control Theory & Applications 12(2), 206–214 (2018) Nascimento et al. [2018] Nascimento, T.P., Dórea, C.E.T., Gonçalves, L.M.G.: Nonlinear model predictive control for trajectory tracking of nonholonomic mobile robots: A modified approach. International Journal of Advanced Robotic Systems 15(1), 1729881418760461 (2018) Pacheco and Luo [2015] Pacheco, L., Luo, N.: Testing pid and mpc performance for mobile robot local path-following. International Journal of Advanced Robotic Systems 12(11), 155 (2015) Mayne [2014] Mayne, D.Q.: Model predictive control: Recent developments and future promise. Automatica 50(12), 2967–2986 (2014) Bai et al. [2019] Bai, G., Meng, Y., Liu, L., Luo, W., Gu, Q., Liu, L.: Review and comparison of path tracking based on model predictive control. Electronics 8(10), 1077 (2019) Conceição et al. [2007] Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Lee, K., Im, D.-Y., Kwak, B., Ryoo, Y.-J., et al.: Design of fuzzy-pid controller for path tracking of mobile robot with differential drive. International Journal of Fuzzy Logic and Intelligent Systems 18(3), 220–228 (2018) Jiang and Jiang [2012] Jiang, W., Jiang, X.: Design of an intelligent temperature control system based on the fuzzy self-tuning pid. Procedia Engineering 43, 307–311 (2012) Bansal and Narvey [2013] Bansal, U.K., Narvey, R.: Speed control of dc motor using fuzzy pid controller. Advance in Electronic and Electric Engineering 3(9), 1209–1220 (2013) Chao et al. [2019] Chao, C.-T., Sutarna, N., Chiou, J.-S., Wang, C.-J.: An optimal fuzzy pid controller design based on conventional pid control and nonlinear factors. Applied Sciences 9(6), 1224 (2019) Nour et al. [2007] Nour, M., Ooi, J., Chan, K.: Fuzzy logic control vs. conventional pid control of an inverted pendulum robot. In: 2007 International Conference on Intelligent and Advanced Systems, pp. 209–214 (2007). IEEE Alouache and Wu [2018] Alouache, A., Wu, Q.: Fuzzy logic pd controller for trajectory tracking of an autonomous differential drive mobile robot (ie quanser qbot). Industrial Robot: An International Journal 45(1), 23–33 (2018) Hashemi et al. [2011] Hashemi, E., Jadidi, M.G., Jadidi, N.G.: Model-based pi–fuzzy control of four-wheeled omni-directional mobile robots. Robotics and Autonomous Systems 59(11), 930–942 (2011) Abiyev et al. [2017] Abiyev, R.H., Günsel, I.S., Akkaya, N., Aytac, E., Çağman, A., Abizada, S.: Fuzzy control of omnidirectional robot. Procedia Computer Science 120, 608–616 (2017) Vu et al. [2021] Vu, T.M., Moezzi, R., Cyrus, J., Hlava, J.: Model predictive control for autonomous driving vehicles. Electronics 10(21), 2593 (2021) Maurović et al. [2011] Maurović, I., Baotić, M., Petrović, I.: Explicit model predictive control for trajectory tracking with mobile robots. In: 2011 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), pp. 712–717 (2011). IEEE Liu et al. [2022] Liu, X., Wang, W., Li, X., Liu, F., He, Z., Yao, Y., Ruan, H., Zhang, T.: Mpc-based high-speed trajectory tracking for 4wis robot. ISA transactions 123, 413–424 (2022) Kanjanawanishkul and Zell [2009] Kanjanawanishkul, K., Zell, A.: Path following for an omnidirectional mobile robot based on model predictive control. In: 2009 IEEE International Conference on Robotics and Automation, pp. 3341–3346 (2009). IEEE Yang et al. [2018] Yang, H., Guo, M., Xia, Y., Cheng, L.: Trajectory tracking for wheeled mobile robots via model predictive control with softening constraints. IET Control Theory & Applications 12(2), 206–214 (2018) Nascimento et al. [2018] Nascimento, T.P., Dórea, C.E.T., Gonçalves, L.M.G.: Nonlinear model predictive control for trajectory tracking of nonholonomic mobile robots: A modified approach. International Journal of Advanced Robotic Systems 15(1), 1729881418760461 (2018) Pacheco and Luo [2015] Pacheco, L., Luo, N.: Testing pid and mpc performance for mobile robot local path-following. International Journal of Advanced Robotic Systems 12(11), 155 (2015) Mayne [2014] Mayne, D.Q.: Model predictive control: Recent developments and future promise. Automatica 50(12), 2967–2986 (2014) Bai et al. [2019] Bai, G., Meng, Y., Liu, L., Luo, W., Gu, Q., Liu, L.: Review and comparison of path tracking based on model predictive control. Electronics 8(10), 1077 (2019) Conceição et al. [2007] Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Jiang, W., Jiang, X.: Design of an intelligent temperature control system based on the fuzzy self-tuning pid. Procedia Engineering 43, 307–311 (2012) Bansal and Narvey [2013] Bansal, U.K., Narvey, R.: Speed control of dc motor using fuzzy pid controller. Advance in Electronic and Electric Engineering 3(9), 1209–1220 (2013) Chao et al. [2019] Chao, C.-T., Sutarna, N., Chiou, J.-S., Wang, C.-J.: An optimal fuzzy pid controller design based on conventional pid control and nonlinear factors. Applied Sciences 9(6), 1224 (2019) Nour et al. [2007] Nour, M., Ooi, J., Chan, K.: Fuzzy logic control vs. conventional pid control of an inverted pendulum robot. In: 2007 International Conference on Intelligent and Advanced Systems, pp. 209–214 (2007). IEEE Alouache and Wu [2018] Alouache, A., Wu, Q.: Fuzzy logic pd controller for trajectory tracking of an autonomous differential drive mobile robot (ie quanser qbot). Industrial Robot: An International Journal 45(1), 23–33 (2018) Hashemi et al. [2011] Hashemi, E., Jadidi, M.G., Jadidi, N.G.: Model-based pi–fuzzy control of four-wheeled omni-directional mobile robots. Robotics and Autonomous Systems 59(11), 930–942 (2011) Abiyev et al. [2017] Abiyev, R.H., Günsel, I.S., Akkaya, N., Aytac, E., Çağman, A., Abizada, S.: Fuzzy control of omnidirectional robot. Procedia Computer Science 120, 608–616 (2017) Vu et al. [2021] Vu, T.M., Moezzi, R., Cyrus, J., Hlava, J.: Model predictive control for autonomous driving vehicles. Electronics 10(21), 2593 (2021) Maurović et al. [2011] Maurović, I., Baotić, M., Petrović, I.: Explicit model predictive control for trajectory tracking with mobile robots. In: 2011 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), pp. 712–717 (2011). IEEE Liu et al. [2022] Liu, X., Wang, W., Li, X., Liu, F., He, Z., Yao, Y., Ruan, H., Zhang, T.: Mpc-based high-speed trajectory tracking for 4wis robot. ISA transactions 123, 413–424 (2022) Kanjanawanishkul and Zell [2009] Kanjanawanishkul, K., Zell, A.: Path following for an omnidirectional mobile robot based on model predictive control. In: 2009 IEEE International Conference on Robotics and Automation, pp. 3341–3346 (2009). IEEE Yang et al. [2018] Yang, H., Guo, M., Xia, Y., Cheng, L.: Trajectory tracking for wheeled mobile robots via model predictive control with softening constraints. IET Control Theory & Applications 12(2), 206–214 (2018) Nascimento et al. [2018] Nascimento, T.P., Dórea, C.E.T., Gonçalves, L.M.G.: Nonlinear model predictive control for trajectory tracking of nonholonomic mobile robots: A modified approach. International Journal of Advanced Robotic Systems 15(1), 1729881418760461 (2018) Pacheco and Luo [2015] Pacheco, L., Luo, N.: Testing pid and mpc performance for mobile robot local path-following. International Journal of Advanced Robotic Systems 12(11), 155 (2015) Mayne [2014] Mayne, D.Q.: Model predictive control: Recent developments and future promise. Automatica 50(12), 2967–2986 (2014) Bai et al. [2019] Bai, G., Meng, Y., Liu, L., Luo, W., Gu, Q., Liu, L.: Review and comparison of path tracking based on model predictive control. Electronics 8(10), 1077 (2019) Conceição et al. [2007] Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Bansal, U.K., Narvey, R.: Speed control of dc motor using fuzzy pid controller. Advance in Electronic and Electric Engineering 3(9), 1209–1220 (2013) Chao et al. [2019] Chao, C.-T., Sutarna, N., Chiou, J.-S., Wang, C.-J.: An optimal fuzzy pid controller design based on conventional pid control and nonlinear factors. Applied Sciences 9(6), 1224 (2019) Nour et al. [2007] Nour, M., Ooi, J., Chan, K.: Fuzzy logic control vs. conventional pid control of an inverted pendulum robot. In: 2007 International Conference on Intelligent and Advanced Systems, pp. 209–214 (2007). IEEE Alouache and Wu [2018] Alouache, A., Wu, Q.: Fuzzy logic pd controller for trajectory tracking of an autonomous differential drive mobile robot (ie quanser qbot). Industrial Robot: An International Journal 45(1), 23–33 (2018) Hashemi et al. [2011] Hashemi, E., Jadidi, M.G., Jadidi, N.G.: Model-based pi–fuzzy control of four-wheeled omni-directional mobile robots. Robotics and Autonomous Systems 59(11), 930–942 (2011) Abiyev et al. [2017] Abiyev, R.H., Günsel, I.S., Akkaya, N., Aytac, E., Çağman, A., Abizada, S.: Fuzzy control of omnidirectional robot. Procedia Computer Science 120, 608–616 (2017) Vu et al. [2021] Vu, T.M., Moezzi, R., Cyrus, J., Hlava, J.: Model predictive control for autonomous driving vehicles. Electronics 10(21), 2593 (2021) Maurović et al. [2011] Maurović, I., Baotić, M., Petrović, I.: Explicit model predictive control for trajectory tracking with mobile robots. In: 2011 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), pp. 712–717 (2011). IEEE Liu et al. [2022] Liu, X., Wang, W., Li, X., Liu, F., He, Z., Yao, Y., Ruan, H., Zhang, T.: Mpc-based high-speed trajectory tracking for 4wis robot. ISA transactions 123, 413–424 (2022) Kanjanawanishkul and Zell [2009] Kanjanawanishkul, K., Zell, A.: Path following for an omnidirectional mobile robot based on model predictive control. In: 2009 IEEE International Conference on Robotics and Automation, pp. 3341–3346 (2009). IEEE Yang et al. [2018] Yang, H., Guo, M., Xia, Y., Cheng, L.: Trajectory tracking for wheeled mobile robots via model predictive control with softening constraints. IET Control Theory & Applications 12(2), 206–214 (2018) Nascimento et al. [2018] Nascimento, T.P., Dórea, C.E.T., Gonçalves, L.M.G.: Nonlinear model predictive control for trajectory tracking of nonholonomic mobile robots: A modified approach. International Journal of Advanced Robotic Systems 15(1), 1729881418760461 (2018) Pacheco and Luo [2015] Pacheco, L., Luo, N.: Testing pid and mpc performance for mobile robot local path-following. International Journal of Advanced Robotic Systems 12(11), 155 (2015) Mayne [2014] Mayne, D.Q.: Model predictive control: Recent developments and future promise. Automatica 50(12), 2967–2986 (2014) Bai et al. [2019] Bai, G., Meng, Y., Liu, L., Luo, W., Gu, Q., Liu, L.: Review and comparison of path tracking based on model predictive control. Electronics 8(10), 1077 (2019) Conceição et al. [2007] Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Chao, C.-T., Sutarna, N., Chiou, J.-S., Wang, C.-J.: An optimal fuzzy pid controller design based on conventional pid control and nonlinear factors. Applied Sciences 9(6), 1224 (2019) Nour et al. [2007] Nour, M., Ooi, J., Chan, K.: Fuzzy logic control vs. conventional pid control of an inverted pendulum robot. In: 2007 International Conference on Intelligent and Advanced Systems, pp. 209–214 (2007). IEEE Alouache and Wu [2018] Alouache, A., Wu, Q.: Fuzzy logic pd controller for trajectory tracking of an autonomous differential drive mobile robot (ie quanser qbot). Industrial Robot: An International Journal 45(1), 23–33 (2018) Hashemi et al. [2011] Hashemi, E., Jadidi, M.G., Jadidi, N.G.: Model-based pi–fuzzy control of four-wheeled omni-directional mobile robots. Robotics and Autonomous Systems 59(11), 930–942 (2011) Abiyev et al. [2017] Abiyev, R.H., Günsel, I.S., Akkaya, N., Aytac, E., Çağman, A., Abizada, S.: Fuzzy control of omnidirectional robot. Procedia Computer Science 120, 608–616 (2017) Vu et al. [2021] Vu, T.M., Moezzi, R., Cyrus, J., Hlava, J.: Model predictive control for autonomous driving vehicles. Electronics 10(21), 2593 (2021) Maurović et al. [2011] Maurović, I., Baotić, M., Petrović, I.: Explicit model predictive control for trajectory tracking with mobile robots. In: 2011 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), pp. 712–717 (2011). IEEE Liu et al. [2022] Liu, X., Wang, W., Li, X., Liu, F., He, Z., Yao, Y., Ruan, H., Zhang, T.: Mpc-based high-speed trajectory tracking for 4wis robot. ISA transactions 123, 413–424 (2022) Kanjanawanishkul and Zell [2009] Kanjanawanishkul, K., Zell, A.: Path following for an omnidirectional mobile robot based on model predictive control. In: 2009 IEEE International Conference on Robotics and Automation, pp. 3341–3346 (2009). IEEE Yang et al. [2018] Yang, H., Guo, M., Xia, Y., Cheng, L.: Trajectory tracking for wheeled mobile robots via model predictive control with softening constraints. IET Control Theory & Applications 12(2), 206–214 (2018) Nascimento et al. [2018] Nascimento, T.P., Dórea, C.E.T., Gonçalves, L.M.G.: Nonlinear model predictive control for trajectory tracking of nonholonomic mobile robots: A modified approach. International Journal of Advanced Robotic Systems 15(1), 1729881418760461 (2018) Pacheco and Luo [2015] Pacheco, L., Luo, N.: Testing pid and mpc performance for mobile robot local path-following. International Journal of Advanced Robotic Systems 12(11), 155 (2015) Mayne [2014] Mayne, D.Q.: Model predictive control: Recent developments and future promise. Automatica 50(12), 2967–2986 (2014) Bai et al. [2019] Bai, G., Meng, Y., Liu, L., Luo, W., Gu, Q., Liu, L.: Review and comparison of path tracking based on model predictive control. Electronics 8(10), 1077 (2019) Conceição et al. [2007] Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Nour, M., Ooi, J., Chan, K.: Fuzzy logic control vs. conventional pid control of an inverted pendulum robot. In: 2007 International Conference on Intelligent and Advanced Systems, pp. 209–214 (2007). IEEE Alouache and Wu [2018] Alouache, A., Wu, Q.: Fuzzy logic pd controller for trajectory tracking of an autonomous differential drive mobile robot (ie quanser qbot). Industrial Robot: An International Journal 45(1), 23–33 (2018) Hashemi et al. [2011] Hashemi, E., Jadidi, M.G., Jadidi, N.G.: Model-based pi–fuzzy control of four-wheeled omni-directional mobile robots. Robotics and Autonomous Systems 59(11), 930–942 (2011) Abiyev et al. [2017] Abiyev, R.H., Günsel, I.S., Akkaya, N., Aytac, E., Çağman, A., Abizada, S.: Fuzzy control of omnidirectional robot. Procedia Computer Science 120, 608–616 (2017) Vu et al. [2021] Vu, T.M., Moezzi, R., Cyrus, J., Hlava, J.: Model predictive control for autonomous driving vehicles. Electronics 10(21), 2593 (2021) Maurović et al. [2011] Maurović, I., Baotić, M., Petrović, I.: Explicit model predictive control for trajectory tracking with mobile robots. In: 2011 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), pp. 712–717 (2011). IEEE Liu et al. [2022] Liu, X., Wang, W., Li, X., Liu, F., He, Z., Yao, Y., Ruan, H., Zhang, T.: Mpc-based high-speed trajectory tracking for 4wis robot. ISA transactions 123, 413–424 (2022) Kanjanawanishkul and Zell [2009] Kanjanawanishkul, K., Zell, A.: Path following for an omnidirectional mobile robot based on model predictive control. In: 2009 IEEE International Conference on Robotics and Automation, pp. 3341–3346 (2009). IEEE Yang et al. [2018] Yang, H., Guo, M., Xia, Y., Cheng, L.: Trajectory tracking for wheeled mobile robots via model predictive control with softening constraints. IET Control Theory & Applications 12(2), 206–214 (2018) Nascimento et al. [2018] Nascimento, T.P., Dórea, C.E.T., Gonçalves, L.M.G.: Nonlinear model predictive control for trajectory tracking of nonholonomic mobile robots: A modified approach. International Journal of Advanced Robotic Systems 15(1), 1729881418760461 (2018) Pacheco and Luo [2015] Pacheco, L., Luo, N.: Testing pid and mpc performance for mobile robot local path-following. International Journal of Advanced Robotic Systems 12(11), 155 (2015) Mayne [2014] Mayne, D.Q.: Model predictive control: Recent developments and future promise. Automatica 50(12), 2967–2986 (2014) Bai et al. [2019] Bai, G., Meng, Y., Liu, L., Luo, W., Gu, Q., Liu, L.: Review and comparison of path tracking based on model predictive control. Electronics 8(10), 1077 (2019) Conceição et al. [2007] Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Alouache, A., Wu, Q.: Fuzzy logic pd controller for trajectory tracking of an autonomous differential drive mobile robot (ie quanser qbot). Industrial Robot: An International Journal 45(1), 23–33 (2018) Hashemi et al. [2011] Hashemi, E., Jadidi, M.G., Jadidi, N.G.: Model-based pi–fuzzy control of four-wheeled omni-directional mobile robots. Robotics and Autonomous Systems 59(11), 930–942 (2011) Abiyev et al. [2017] Abiyev, R.H., Günsel, I.S., Akkaya, N., Aytac, E., Çağman, A., Abizada, S.: Fuzzy control of omnidirectional robot. Procedia Computer Science 120, 608–616 (2017) Vu et al. [2021] Vu, T.M., Moezzi, R., Cyrus, J., Hlava, J.: Model predictive control for autonomous driving vehicles. Electronics 10(21), 2593 (2021) Maurović et al. [2011] Maurović, I., Baotić, M., Petrović, I.: Explicit model predictive control for trajectory tracking with mobile robots. In: 2011 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), pp. 712–717 (2011). IEEE Liu et al. [2022] Liu, X., Wang, W., Li, X., Liu, F., He, Z., Yao, Y., Ruan, H., Zhang, T.: Mpc-based high-speed trajectory tracking for 4wis robot. ISA transactions 123, 413–424 (2022) Kanjanawanishkul and Zell [2009] Kanjanawanishkul, K., Zell, A.: Path following for an omnidirectional mobile robot based on model predictive control. In: 2009 IEEE International Conference on Robotics and Automation, pp. 3341–3346 (2009). IEEE Yang et al. [2018] Yang, H., Guo, M., Xia, Y., Cheng, L.: Trajectory tracking for wheeled mobile robots via model predictive control with softening constraints. IET Control Theory & Applications 12(2), 206–214 (2018) Nascimento et al. [2018] Nascimento, T.P., Dórea, C.E.T., Gonçalves, L.M.G.: Nonlinear model predictive control for trajectory tracking of nonholonomic mobile robots: A modified approach. International Journal of Advanced Robotic Systems 15(1), 1729881418760461 (2018) Pacheco and Luo [2015] Pacheco, L., Luo, N.: Testing pid and mpc performance for mobile robot local path-following. International Journal of Advanced Robotic Systems 12(11), 155 (2015) Mayne [2014] Mayne, D.Q.: Model predictive control: Recent developments and future promise. Automatica 50(12), 2967–2986 (2014) Bai et al. [2019] Bai, G., Meng, Y., Liu, L., Luo, W., Gu, Q., Liu, L.: Review and comparison of path tracking based on model predictive control. Electronics 8(10), 1077 (2019) Conceição et al. [2007] Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Hashemi, E., Jadidi, M.G., Jadidi, N.G.: Model-based pi–fuzzy control of four-wheeled omni-directional mobile robots. Robotics and Autonomous Systems 59(11), 930–942 (2011) Abiyev et al. [2017] Abiyev, R.H., Günsel, I.S., Akkaya, N., Aytac, E., Çağman, A., Abizada, S.: Fuzzy control of omnidirectional robot. Procedia Computer Science 120, 608–616 (2017) Vu et al. [2021] Vu, T.M., Moezzi, R., Cyrus, J., Hlava, J.: Model predictive control for autonomous driving vehicles. Electronics 10(21), 2593 (2021) Maurović et al. [2011] Maurović, I., Baotić, M., Petrović, I.: Explicit model predictive control for trajectory tracking with mobile robots. In: 2011 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), pp. 712–717 (2011). IEEE Liu et al. [2022] Liu, X., Wang, W., Li, X., Liu, F., He, Z., Yao, Y., Ruan, H., Zhang, T.: Mpc-based high-speed trajectory tracking for 4wis robot. ISA transactions 123, 413–424 (2022) Kanjanawanishkul and Zell [2009] Kanjanawanishkul, K., Zell, A.: Path following for an omnidirectional mobile robot based on model predictive control. In: 2009 IEEE International Conference on Robotics and Automation, pp. 3341–3346 (2009). IEEE Yang et al. [2018] Yang, H., Guo, M., Xia, Y., Cheng, L.: Trajectory tracking for wheeled mobile robots via model predictive control with softening constraints. IET Control Theory & Applications 12(2), 206–214 (2018) Nascimento et al. [2018] Nascimento, T.P., Dórea, C.E.T., Gonçalves, L.M.G.: Nonlinear model predictive control for trajectory tracking of nonholonomic mobile robots: A modified approach. International Journal of Advanced Robotic Systems 15(1), 1729881418760461 (2018) Pacheco and Luo [2015] Pacheco, L., Luo, N.: Testing pid and mpc performance for mobile robot local path-following. International Journal of Advanced Robotic Systems 12(11), 155 (2015) Mayne [2014] Mayne, D.Q.: Model predictive control: Recent developments and future promise. Automatica 50(12), 2967–2986 (2014) Bai et al. [2019] Bai, G., Meng, Y., Liu, L., Luo, W., Gu, Q., Liu, L.: Review and comparison of path tracking based on model predictive control. Electronics 8(10), 1077 (2019) Conceição et al. [2007] Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Abiyev, R.H., Günsel, I.S., Akkaya, N., Aytac, E., Çağman, A., Abizada, S.: Fuzzy control of omnidirectional robot. Procedia Computer Science 120, 608–616 (2017) Vu et al. [2021] Vu, T.M., Moezzi, R., Cyrus, J., Hlava, J.: Model predictive control for autonomous driving vehicles. Electronics 10(21), 2593 (2021) Maurović et al. [2011] Maurović, I., Baotić, M., Petrović, I.: Explicit model predictive control for trajectory tracking with mobile robots. In: 2011 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), pp. 712–717 (2011). IEEE Liu et al. [2022] Liu, X., Wang, W., Li, X., Liu, F., He, Z., Yao, Y., Ruan, H., Zhang, T.: Mpc-based high-speed trajectory tracking for 4wis robot. ISA transactions 123, 413–424 (2022) Kanjanawanishkul and Zell [2009] Kanjanawanishkul, K., Zell, A.: Path following for an omnidirectional mobile robot based on model predictive control. In: 2009 IEEE International Conference on Robotics and Automation, pp. 3341–3346 (2009). IEEE Yang et al. [2018] Yang, H., Guo, M., Xia, Y., Cheng, L.: Trajectory tracking for wheeled mobile robots via model predictive control with softening constraints. IET Control Theory & Applications 12(2), 206–214 (2018) Nascimento et al. [2018] Nascimento, T.P., Dórea, C.E.T., Gonçalves, L.M.G.: Nonlinear model predictive control for trajectory tracking of nonholonomic mobile robots: A modified approach. International Journal of Advanced Robotic Systems 15(1), 1729881418760461 (2018) Pacheco and Luo [2015] Pacheco, L., Luo, N.: Testing pid and mpc performance for mobile robot local path-following. International Journal of Advanced Robotic Systems 12(11), 155 (2015) Mayne [2014] Mayne, D.Q.: Model predictive control: Recent developments and future promise. Automatica 50(12), 2967–2986 (2014) Bai et al. [2019] Bai, G., Meng, Y., Liu, L., Luo, W., Gu, Q., Liu, L.: Review and comparison of path tracking based on model predictive control. Electronics 8(10), 1077 (2019) Conceição et al. [2007] Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Vu, T.M., Moezzi, R., Cyrus, J., Hlava, J.: Model predictive control for autonomous driving vehicles. Electronics 10(21), 2593 (2021) Maurović et al. [2011] Maurović, I., Baotić, M., Petrović, I.: Explicit model predictive control for trajectory tracking with mobile robots. In: 2011 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), pp. 712–717 (2011). IEEE Liu et al. [2022] Liu, X., Wang, W., Li, X., Liu, F., He, Z., Yao, Y., Ruan, H., Zhang, T.: Mpc-based high-speed trajectory tracking for 4wis robot. ISA transactions 123, 413–424 (2022) Kanjanawanishkul and Zell [2009] Kanjanawanishkul, K., Zell, A.: Path following for an omnidirectional mobile robot based on model predictive control. In: 2009 IEEE International Conference on Robotics and Automation, pp. 3341–3346 (2009). IEEE Yang et al. [2018] Yang, H., Guo, M., Xia, Y., Cheng, L.: Trajectory tracking for wheeled mobile robots via model predictive control with softening constraints. IET Control Theory & Applications 12(2), 206–214 (2018) Nascimento et al. 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In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Nascimento, T.P., Dórea, C.E.T., Gonçalves, L.M.G.: Nonlinear model predictive control for trajectory tracking of nonholonomic mobile robots: A modified approach. International Journal of Advanced Robotic Systems 15(1), 1729881418760461 (2018) Pacheco and Luo [2015] Pacheco, L., Luo, N.: Testing pid and mpc performance for mobile robot local path-following. 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[2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. 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Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019)
- Ravankar, A., Ravankar, A.A., Kobayashi, Y., Hoshino, Y., Peng, C.-C.: Path smoothing techniques in robot navigation: State-of-the-art, current and future challenges. Sensors 18(9), 3170 (2018) Somwanshi et al. [2019] Somwanshi, D., Bundele, M., Kumar, G., Parashar, G.: Comparison of fuzzy-pid and pid controller for speed control of dc motor using labview. Procedia Computer Science 152, 252–260 (2019) Lee et al. [2018] Lee, K., Im, D.-Y., Kwak, B., Ryoo, Y.-J., et al.: Design of fuzzy-pid controller for path tracking of mobile robot with differential drive. International Journal of Fuzzy Logic and Intelligent Systems 18(3), 220–228 (2018) Jiang and Jiang [2012] Jiang, W., Jiang, X.: Design of an intelligent temperature control system based on the fuzzy self-tuning pid. Procedia Engineering 43, 307–311 (2012) Bansal and Narvey [2013] Bansal, U.K., Narvey, R.: Speed control of dc motor using fuzzy pid controller. Advance in Electronic and Electric Engineering 3(9), 1209–1220 (2013) Chao et al. [2019] Chao, C.-T., Sutarna, N., Chiou, J.-S., Wang, C.-J.: An optimal fuzzy pid controller design based on conventional pid control and nonlinear factors. Applied Sciences 9(6), 1224 (2019) Nour et al. [2007] Nour, M., Ooi, J., Chan, K.: Fuzzy logic control vs. conventional pid control of an inverted pendulum robot. In: 2007 International Conference on Intelligent and Advanced Systems, pp. 209–214 (2007). IEEE Alouache and Wu [2018] Alouache, A., Wu, Q.: Fuzzy logic pd controller for trajectory tracking of an autonomous differential drive mobile robot (ie quanser qbot). Industrial Robot: An International Journal 45(1), 23–33 (2018) Hashemi et al. [2011] Hashemi, E., Jadidi, M.G., Jadidi, N.G.: Model-based pi–fuzzy control of four-wheeled omni-directional mobile robots. Robotics and Autonomous Systems 59(11), 930–942 (2011) Abiyev et al. [2017] Abiyev, R.H., Günsel, I.S., Akkaya, N., Aytac, E., Çağman, A., Abizada, S.: Fuzzy control of omnidirectional robot. Procedia Computer Science 120, 608–616 (2017) Vu et al. [2021] Vu, T.M., Moezzi, R., Cyrus, J., Hlava, J.: Model predictive control for autonomous driving vehicles. Electronics 10(21), 2593 (2021) Maurović et al. [2011] Maurović, I., Baotić, M., Petrović, I.: Explicit model predictive control for trajectory tracking with mobile robots. In: 2011 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), pp. 712–717 (2011). IEEE Liu et al. [2022] Liu, X., Wang, W., Li, X., Liu, F., He, Z., Yao, Y., Ruan, H., Zhang, T.: Mpc-based high-speed trajectory tracking for 4wis robot. ISA transactions 123, 413–424 (2022) Kanjanawanishkul and Zell [2009] Kanjanawanishkul, K., Zell, A.: Path following for an omnidirectional mobile robot based on model predictive control. In: 2009 IEEE International Conference on Robotics and Automation, pp. 3341–3346 (2009). IEEE Yang et al. [2018] Yang, H., Guo, M., Xia, Y., Cheng, L.: Trajectory tracking for wheeled mobile robots via model predictive control with softening constraints. IET Control Theory & Applications 12(2), 206–214 (2018) Nascimento et al. [2018] Nascimento, T.P., Dórea, C.E.T., Gonçalves, L.M.G.: Nonlinear model predictive control for trajectory tracking of nonholonomic mobile robots: A modified approach. International Journal of Advanced Robotic Systems 15(1), 1729881418760461 (2018) Pacheco and Luo [2015] Pacheco, L., Luo, N.: Testing pid and mpc performance for mobile robot local path-following. International Journal of Advanced Robotic Systems 12(11), 155 (2015) Mayne [2014] Mayne, D.Q.: Model predictive control: Recent developments and future promise. Automatica 50(12), 2967–2986 (2014) Bai et al. [2019] Bai, G., Meng, Y., Liu, L., Luo, W., Gu, Q., Liu, L.: Review and comparison of path tracking based on model predictive control. Electronics 8(10), 1077 (2019) Conceição et al. [2007] Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Somwanshi, D., Bundele, M., Kumar, G., Parashar, G.: Comparison of fuzzy-pid and pid controller for speed control of dc motor using labview. Procedia Computer Science 152, 252–260 (2019) Lee et al. [2018] Lee, K., Im, D.-Y., Kwak, B., Ryoo, Y.-J., et al.: Design of fuzzy-pid controller for path tracking of mobile robot with differential drive. International Journal of Fuzzy Logic and Intelligent Systems 18(3), 220–228 (2018) Jiang and Jiang [2012] Jiang, W., Jiang, X.: Design of an intelligent temperature control system based on the fuzzy self-tuning pid. Procedia Engineering 43, 307–311 (2012) Bansal and Narvey [2013] Bansal, U.K., Narvey, R.: Speed control of dc motor using fuzzy pid controller. Advance in Electronic and Electric Engineering 3(9), 1209–1220 (2013) Chao et al. [2019] Chao, C.-T., Sutarna, N., Chiou, J.-S., Wang, C.-J.: An optimal fuzzy pid controller design based on conventional pid control and nonlinear factors. Applied Sciences 9(6), 1224 (2019) Nour et al. [2007] Nour, M., Ooi, J., Chan, K.: Fuzzy logic control vs. conventional pid control of an inverted pendulum robot. In: 2007 International Conference on Intelligent and Advanced Systems, pp. 209–214 (2007). IEEE Alouache and Wu [2018] Alouache, A., Wu, Q.: Fuzzy logic pd controller for trajectory tracking of an autonomous differential drive mobile robot (ie quanser qbot). Industrial Robot: An International Journal 45(1), 23–33 (2018) Hashemi et al. [2011] Hashemi, E., Jadidi, M.G., Jadidi, N.G.: Model-based pi–fuzzy control of four-wheeled omni-directional mobile robots. Robotics and Autonomous Systems 59(11), 930–942 (2011) Abiyev et al. [2017] Abiyev, R.H., Günsel, I.S., Akkaya, N., Aytac, E., Çağman, A., Abizada, S.: Fuzzy control of omnidirectional robot. Procedia Computer Science 120, 608–616 (2017) Vu et al. [2021] Vu, T.M., Moezzi, R., Cyrus, J., Hlava, J.: Model predictive control for autonomous driving vehicles. Electronics 10(21), 2593 (2021) Maurović et al. [2011] Maurović, I., Baotić, M., Petrović, I.: Explicit model predictive control for trajectory tracking with mobile robots. In: 2011 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), pp. 712–717 (2011). IEEE Liu et al. [2022] Liu, X., Wang, W., Li, X., Liu, F., He, Z., Yao, Y., Ruan, H., Zhang, T.: Mpc-based high-speed trajectory tracking for 4wis robot. ISA transactions 123, 413–424 (2022) Kanjanawanishkul and Zell [2009] Kanjanawanishkul, K., Zell, A.: Path following for an omnidirectional mobile robot based on model predictive control. In: 2009 IEEE International Conference on Robotics and Automation, pp. 3341–3346 (2009). IEEE Yang et al. [2018] Yang, H., Guo, M., Xia, Y., Cheng, L.: Trajectory tracking for wheeled mobile robots via model predictive control with softening constraints. IET Control Theory & Applications 12(2), 206–214 (2018) Nascimento et al. [2018] Nascimento, T.P., Dórea, C.E.T., Gonçalves, L.M.G.: Nonlinear model predictive control for trajectory tracking of nonholonomic mobile robots: A modified approach. International Journal of Advanced Robotic Systems 15(1), 1729881418760461 (2018) Pacheco and Luo [2015] Pacheco, L., Luo, N.: Testing pid and mpc performance for mobile robot local path-following. International Journal of Advanced Robotic Systems 12(11), 155 (2015) Mayne [2014] Mayne, D.Q.: Model predictive control: Recent developments and future promise. Automatica 50(12), 2967–2986 (2014) Bai et al. [2019] Bai, G., Meng, Y., Liu, L., Luo, W., Gu, Q., Liu, L.: Review and comparison of path tracking based on model predictive control. Electronics 8(10), 1077 (2019) Conceição et al. [2007] Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Lee, K., Im, D.-Y., Kwak, B., Ryoo, Y.-J., et al.: Design of fuzzy-pid controller for path tracking of mobile robot with differential drive. International Journal of Fuzzy Logic and Intelligent Systems 18(3), 220–228 (2018) Jiang and Jiang [2012] Jiang, W., Jiang, X.: Design of an intelligent temperature control system based on the fuzzy self-tuning pid. Procedia Engineering 43, 307–311 (2012) Bansal and Narvey [2013] Bansal, U.K., Narvey, R.: Speed control of dc motor using fuzzy pid controller. Advance in Electronic and Electric Engineering 3(9), 1209–1220 (2013) Chao et al. [2019] Chao, C.-T., Sutarna, N., Chiou, J.-S., Wang, C.-J.: An optimal fuzzy pid controller design based on conventional pid control and nonlinear factors. Applied Sciences 9(6), 1224 (2019) Nour et al. [2007] Nour, M., Ooi, J., Chan, K.: Fuzzy logic control vs. conventional pid control of an inverted pendulum robot. In: 2007 International Conference on Intelligent and Advanced Systems, pp. 209–214 (2007). IEEE Alouache and Wu [2018] Alouache, A., Wu, Q.: Fuzzy logic pd controller for trajectory tracking of an autonomous differential drive mobile robot (ie quanser qbot). Industrial Robot: An International Journal 45(1), 23–33 (2018) Hashemi et al. [2011] Hashemi, E., Jadidi, M.G., Jadidi, N.G.: Model-based pi–fuzzy control of four-wheeled omni-directional mobile robots. Robotics and Autonomous Systems 59(11), 930–942 (2011) Abiyev et al. [2017] Abiyev, R.H., Günsel, I.S., Akkaya, N., Aytac, E., Çağman, A., Abizada, S.: Fuzzy control of omnidirectional robot. Procedia Computer Science 120, 608–616 (2017) Vu et al. [2021] Vu, T.M., Moezzi, R., Cyrus, J., Hlava, J.: Model predictive control for autonomous driving vehicles. Electronics 10(21), 2593 (2021) Maurović et al. [2011] Maurović, I., Baotić, M., Petrović, I.: Explicit model predictive control for trajectory tracking with mobile robots. In: 2011 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), pp. 712–717 (2011). IEEE Liu et al. [2022] Liu, X., Wang, W., Li, X., Liu, F., He, Z., Yao, Y., Ruan, H., Zhang, T.: Mpc-based high-speed trajectory tracking for 4wis robot. ISA transactions 123, 413–424 (2022) Kanjanawanishkul and Zell [2009] Kanjanawanishkul, K., Zell, A.: Path following for an omnidirectional mobile robot based on model predictive control. In: 2009 IEEE International Conference on Robotics and Automation, pp. 3341–3346 (2009). IEEE Yang et al. [2018] Yang, H., Guo, M., Xia, Y., Cheng, L.: Trajectory tracking for wheeled mobile robots via model predictive control with softening constraints. IET Control Theory & Applications 12(2), 206–214 (2018) Nascimento et al. [2018] Nascimento, T.P., Dórea, C.E.T., Gonçalves, L.M.G.: Nonlinear model predictive control for trajectory tracking of nonholonomic mobile robots: A modified approach. International Journal of Advanced Robotic Systems 15(1), 1729881418760461 (2018) Pacheco and Luo [2015] Pacheco, L., Luo, N.: Testing pid and mpc performance for mobile robot local path-following. International Journal of Advanced Robotic Systems 12(11), 155 (2015) Mayne [2014] Mayne, D.Q.: Model predictive control: Recent developments and future promise. Automatica 50(12), 2967–2986 (2014) Bai et al. [2019] Bai, G., Meng, Y., Liu, L., Luo, W., Gu, Q., Liu, L.: Review and comparison of path tracking based on model predictive control. Electronics 8(10), 1077 (2019) Conceição et al. [2007] Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Jiang, W., Jiang, X.: Design of an intelligent temperature control system based on the fuzzy self-tuning pid. Procedia Engineering 43, 307–311 (2012) Bansal and Narvey [2013] Bansal, U.K., Narvey, R.: Speed control of dc motor using fuzzy pid controller. Advance in Electronic and Electric Engineering 3(9), 1209–1220 (2013) Chao et al. [2019] Chao, C.-T., Sutarna, N., Chiou, J.-S., Wang, C.-J.: An optimal fuzzy pid controller design based on conventional pid control and nonlinear factors. Applied Sciences 9(6), 1224 (2019) Nour et al. [2007] Nour, M., Ooi, J., Chan, K.: Fuzzy logic control vs. conventional pid control of an inverted pendulum robot. In: 2007 International Conference on Intelligent and Advanced Systems, pp. 209–214 (2007). IEEE Alouache and Wu [2018] Alouache, A., Wu, Q.: Fuzzy logic pd controller for trajectory tracking of an autonomous differential drive mobile robot (ie quanser qbot). Industrial Robot: An International Journal 45(1), 23–33 (2018) Hashemi et al. [2011] Hashemi, E., Jadidi, M.G., Jadidi, N.G.: Model-based pi–fuzzy control of four-wheeled omni-directional mobile robots. Robotics and Autonomous Systems 59(11), 930–942 (2011) Abiyev et al. [2017] Abiyev, R.H., Günsel, I.S., Akkaya, N., Aytac, E., Çağman, A., Abizada, S.: Fuzzy control of omnidirectional robot. Procedia Computer Science 120, 608–616 (2017) Vu et al. [2021] Vu, T.M., Moezzi, R., Cyrus, J., Hlava, J.: Model predictive control for autonomous driving vehicles. Electronics 10(21), 2593 (2021) Maurović et al. [2011] Maurović, I., Baotić, M., Petrović, I.: Explicit model predictive control for trajectory tracking with mobile robots. In: 2011 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), pp. 712–717 (2011). IEEE Liu et al. [2022] Liu, X., Wang, W., Li, X., Liu, F., He, Z., Yao, Y., Ruan, H., Zhang, T.: Mpc-based high-speed trajectory tracking for 4wis robot. ISA transactions 123, 413–424 (2022) Kanjanawanishkul and Zell [2009] Kanjanawanishkul, K., Zell, A.: Path following for an omnidirectional mobile robot based on model predictive control. In: 2009 IEEE International Conference on Robotics and Automation, pp. 3341–3346 (2009). IEEE Yang et al. [2018] Yang, H., Guo, M., Xia, Y., Cheng, L.: Trajectory tracking for wheeled mobile robots via model predictive control with softening constraints. IET Control Theory & Applications 12(2), 206–214 (2018) Nascimento et al. [2018] Nascimento, T.P., Dórea, C.E.T., Gonçalves, L.M.G.: Nonlinear model predictive control for trajectory tracking of nonholonomic mobile robots: A modified approach. International Journal of Advanced Robotic Systems 15(1), 1729881418760461 (2018) Pacheco and Luo [2015] Pacheco, L., Luo, N.: Testing pid and mpc performance for mobile robot local path-following. International Journal of Advanced Robotic Systems 12(11), 155 (2015) Mayne [2014] Mayne, D.Q.: Model predictive control: Recent developments and future promise. Automatica 50(12), 2967–2986 (2014) Bai et al. [2019] Bai, G., Meng, Y., Liu, L., Luo, W., Gu, Q., Liu, L.: Review and comparison of path tracking based on model predictive control. Electronics 8(10), 1077 (2019) Conceição et al. [2007] Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Bansal, U.K., Narvey, R.: Speed control of dc motor using fuzzy pid controller. Advance in Electronic and Electric Engineering 3(9), 1209–1220 (2013) Chao et al. [2019] Chao, C.-T., Sutarna, N., Chiou, J.-S., Wang, C.-J.: An optimal fuzzy pid controller design based on conventional pid control and nonlinear factors. Applied Sciences 9(6), 1224 (2019) Nour et al. [2007] Nour, M., Ooi, J., Chan, K.: Fuzzy logic control vs. conventional pid control of an inverted pendulum robot. In: 2007 International Conference on Intelligent and Advanced Systems, pp. 209–214 (2007). IEEE Alouache and Wu [2018] Alouache, A., Wu, Q.: Fuzzy logic pd controller for trajectory tracking of an autonomous differential drive mobile robot (ie quanser qbot). Industrial Robot: An International Journal 45(1), 23–33 (2018) Hashemi et al. [2011] Hashemi, E., Jadidi, M.G., Jadidi, N.G.: Model-based pi–fuzzy control of four-wheeled omni-directional mobile robots. Robotics and Autonomous Systems 59(11), 930–942 (2011) Abiyev et al. [2017] Abiyev, R.H., Günsel, I.S., Akkaya, N., Aytac, E., Çağman, A., Abizada, S.: Fuzzy control of omnidirectional robot. Procedia Computer Science 120, 608–616 (2017) Vu et al. [2021] Vu, T.M., Moezzi, R., Cyrus, J., Hlava, J.: Model predictive control for autonomous driving vehicles. Electronics 10(21), 2593 (2021) Maurović et al. [2011] Maurović, I., Baotić, M., Petrović, I.: Explicit model predictive control for trajectory tracking with mobile robots. In: 2011 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), pp. 712–717 (2011). IEEE Liu et al. [2022] Liu, X., Wang, W., Li, X., Liu, F., He, Z., Yao, Y., Ruan, H., Zhang, T.: Mpc-based high-speed trajectory tracking for 4wis robot. ISA transactions 123, 413–424 (2022) Kanjanawanishkul and Zell [2009] Kanjanawanishkul, K., Zell, A.: Path following for an omnidirectional mobile robot based on model predictive control. In: 2009 IEEE International Conference on Robotics and Automation, pp. 3341–3346 (2009). IEEE Yang et al. [2018] Yang, H., Guo, M., Xia, Y., Cheng, L.: Trajectory tracking for wheeled mobile robots via model predictive control with softening constraints. IET Control Theory & Applications 12(2), 206–214 (2018) Nascimento et al. [2018] Nascimento, T.P., Dórea, C.E.T., Gonçalves, L.M.G.: Nonlinear model predictive control for trajectory tracking of nonholonomic mobile robots: A modified approach. International Journal of Advanced Robotic Systems 15(1), 1729881418760461 (2018) Pacheco and Luo [2015] Pacheco, L., Luo, N.: Testing pid and mpc performance for mobile robot local path-following. International Journal of Advanced Robotic Systems 12(11), 155 (2015) Mayne [2014] Mayne, D.Q.: Model predictive control: Recent developments and future promise. Automatica 50(12), 2967–2986 (2014) Bai et al. [2019] Bai, G., Meng, Y., Liu, L., Luo, W., Gu, Q., Liu, L.: Review and comparison of path tracking based on model predictive control. Electronics 8(10), 1077 (2019) Conceição et al. [2007] Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Chao, C.-T., Sutarna, N., Chiou, J.-S., Wang, C.-J.: An optimal fuzzy pid controller design based on conventional pid control and nonlinear factors. Applied Sciences 9(6), 1224 (2019) Nour et al. [2007] Nour, M., Ooi, J., Chan, K.: Fuzzy logic control vs. conventional pid control of an inverted pendulum robot. In: 2007 International Conference on Intelligent and Advanced Systems, pp. 209–214 (2007). IEEE Alouache and Wu [2018] Alouache, A., Wu, Q.: Fuzzy logic pd controller for trajectory tracking of an autonomous differential drive mobile robot (ie quanser qbot). Industrial Robot: An International Journal 45(1), 23–33 (2018) Hashemi et al. [2011] Hashemi, E., Jadidi, M.G., Jadidi, N.G.: Model-based pi–fuzzy control of four-wheeled omni-directional mobile robots. Robotics and Autonomous Systems 59(11), 930–942 (2011) Abiyev et al. [2017] Abiyev, R.H., Günsel, I.S., Akkaya, N., Aytac, E., Çağman, A., Abizada, S.: Fuzzy control of omnidirectional robot. Procedia Computer Science 120, 608–616 (2017) Vu et al. [2021] Vu, T.M., Moezzi, R., Cyrus, J., Hlava, J.: Model predictive control for autonomous driving vehicles. Electronics 10(21), 2593 (2021) Maurović et al. [2011] Maurović, I., Baotić, M., Petrović, I.: Explicit model predictive control for trajectory tracking with mobile robots. In: 2011 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), pp. 712–717 (2011). IEEE Liu et al. [2022] Liu, X., Wang, W., Li, X., Liu, F., He, Z., Yao, Y., Ruan, H., Zhang, T.: Mpc-based high-speed trajectory tracking for 4wis robot. ISA transactions 123, 413–424 (2022) Kanjanawanishkul and Zell [2009] Kanjanawanishkul, K., Zell, A.: Path following for an omnidirectional mobile robot based on model predictive control. In: 2009 IEEE International Conference on Robotics and Automation, pp. 3341–3346 (2009). IEEE Yang et al. [2018] Yang, H., Guo, M., Xia, Y., Cheng, L.: Trajectory tracking for wheeled mobile robots via model predictive control with softening constraints. IET Control Theory & Applications 12(2), 206–214 (2018) Nascimento et al. [2018] Nascimento, T.P., Dórea, C.E.T., Gonçalves, L.M.G.: Nonlinear model predictive control for trajectory tracking of nonholonomic mobile robots: A modified approach. International Journal of Advanced Robotic Systems 15(1), 1729881418760461 (2018) Pacheco and Luo [2015] Pacheco, L., Luo, N.: Testing pid and mpc performance for mobile robot local path-following. International Journal of Advanced Robotic Systems 12(11), 155 (2015) Mayne [2014] Mayne, D.Q.: Model predictive control: Recent developments and future promise. Automatica 50(12), 2967–2986 (2014) Bai et al. [2019] Bai, G., Meng, Y., Liu, L., Luo, W., Gu, Q., Liu, L.: Review and comparison of path tracking based on model predictive control. Electronics 8(10), 1077 (2019) Conceição et al. [2007] Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. 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[2018] Yang, H., Guo, M., Xia, Y., Cheng, L.: Trajectory tracking for wheeled mobile robots via model predictive control with softening constraints. IET Control Theory & Applications 12(2), 206–214 (2018) Nascimento et al. [2018] Nascimento, T.P., Dórea, C.E.T., Gonçalves, L.M.G.: Nonlinear model predictive control for trajectory tracking of nonholonomic mobile robots: A modified approach. International Journal of Advanced Robotic Systems 15(1), 1729881418760461 (2018) Pacheco and Luo [2015] Pacheco, L., Luo, N.: Testing pid and mpc performance for mobile robot local path-following. International Journal of Advanced Robotic Systems 12(11), 155 (2015) Mayne [2014] Mayne, D.Q.: Model predictive control: Recent developments and future promise. Automatica 50(12), 2967–2986 (2014) Bai et al. [2019] Bai, G., Meng, Y., Liu, L., Luo, W., Gu, Q., Liu, L.: Review and comparison of path tracking based on model predictive control. Electronics 8(10), 1077 (2019) Conceição et al. [2007] Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Alouache, A., Wu, Q.: Fuzzy logic pd controller for trajectory tracking of an autonomous differential drive mobile robot (ie quanser qbot). Industrial Robot: An International Journal 45(1), 23–33 (2018) Hashemi et al. [2011] Hashemi, E., Jadidi, M.G., Jadidi, N.G.: Model-based pi–fuzzy control of four-wheeled omni-directional mobile robots. Robotics and Autonomous Systems 59(11), 930–942 (2011) Abiyev et al. [2017] Abiyev, R.H., Günsel, I.S., Akkaya, N., Aytac, E., Çağman, A., Abizada, S.: Fuzzy control of omnidirectional robot. Procedia Computer Science 120, 608–616 (2017) Vu et al. [2021] Vu, T.M., Moezzi, R., Cyrus, J., Hlava, J.: Model predictive control for autonomous driving vehicles. Electronics 10(21), 2593 (2021) Maurović et al. [2011] Maurović, I., Baotić, M., Petrović, I.: Explicit model predictive control for trajectory tracking with mobile robots. In: 2011 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), pp. 712–717 (2011). IEEE Liu et al. [2022] Liu, X., Wang, W., Li, X., Liu, F., He, Z., Yao, Y., Ruan, H., Zhang, T.: Mpc-based high-speed trajectory tracking for 4wis robot. ISA transactions 123, 413–424 (2022) Kanjanawanishkul and Zell [2009] Kanjanawanishkul, K., Zell, A.: Path following for an omnidirectional mobile robot based on model predictive control. In: 2009 IEEE International Conference on Robotics and Automation, pp. 3341–3346 (2009). IEEE Yang et al. [2018] Yang, H., Guo, M., Xia, Y., Cheng, L.: Trajectory tracking for wheeled mobile robots via model predictive control with softening constraints. IET Control Theory & Applications 12(2), 206–214 (2018) Nascimento et al. [2018] Nascimento, T.P., Dórea, C.E.T., Gonçalves, L.M.G.: Nonlinear model predictive control for trajectory tracking of nonholonomic mobile robots: A modified approach. International Journal of Advanced Robotic Systems 15(1), 1729881418760461 (2018) Pacheco and Luo [2015] Pacheco, L., Luo, N.: Testing pid and mpc performance for mobile robot local path-following. International Journal of Advanced Robotic Systems 12(11), 155 (2015) Mayne [2014] Mayne, D.Q.: Model predictive control: Recent developments and future promise. Automatica 50(12), 2967–2986 (2014) Bai et al. [2019] Bai, G., Meng, Y., Liu, L., Luo, W., Gu, Q., Liu, L.: Review and comparison of path tracking based on model predictive control. Electronics 8(10), 1077 (2019) Conceição et al. [2007] Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Hashemi, E., Jadidi, M.G., Jadidi, N.G.: Model-based pi–fuzzy control of four-wheeled omni-directional mobile robots. Robotics and Autonomous Systems 59(11), 930–942 (2011) Abiyev et al. [2017] Abiyev, R.H., Günsel, I.S., Akkaya, N., Aytac, E., Çağman, A., Abizada, S.: Fuzzy control of omnidirectional robot. Procedia Computer Science 120, 608–616 (2017) Vu et al. [2021] Vu, T.M., Moezzi, R., Cyrus, J., Hlava, J.: Model predictive control for autonomous driving vehicles. Electronics 10(21), 2593 (2021) Maurović et al. [2011] Maurović, I., Baotić, M., Petrović, I.: Explicit model predictive control for trajectory tracking with mobile robots. In: 2011 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), pp. 712–717 (2011). IEEE Liu et al. [2022] Liu, X., Wang, W., Li, X., Liu, F., He, Z., Yao, Y., Ruan, H., Zhang, T.: Mpc-based high-speed trajectory tracking for 4wis robot. ISA transactions 123, 413–424 (2022) Kanjanawanishkul and Zell [2009] Kanjanawanishkul, K., Zell, A.: Path following for an omnidirectional mobile robot based on model predictive control. In: 2009 IEEE International Conference on Robotics and Automation, pp. 3341–3346 (2009). IEEE Yang et al. [2018] Yang, H., Guo, M., Xia, Y., Cheng, L.: Trajectory tracking for wheeled mobile robots via model predictive control with softening constraints. IET Control Theory & Applications 12(2), 206–214 (2018) Nascimento et al. [2018] Nascimento, T.P., Dórea, C.E.T., Gonçalves, L.M.G.: Nonlinear model predictive control for trajectory tracking of nonholonomic mobile robots: A modified approach. International Journal of Advanced Robotic Systems 15(1), 1729881418760461 (2018) Pacheco and Luo [2015] Pacheco, L., Luo, N.: Testing pid and mpc performance for mobile robot local path-following. International Journal of Advanced Robotic Systems 12(11), 155 (2015) Mayne [2014] Mayne, D.Q.: Model predictive control: Recent developments and future promise. Automatica 50(12), 2967–2986 (2014) Bai et al. [2019] Bai, G., Meng, Y., Liu, L., Luo, W., Gu, Q., Liu, L.: Review and comparison of path tracking based on model predictive control. Electronics 8(10), 1077 (2019) Conceição et al. [2007] Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Abiyev, R.H., Günsel, I.S., Akkaya, N., Aytac, E., Çağman, A., Abizada, S.: Fuzzy control of omnidirectional robot. Procedia Computer Science 120, 608–616 (2017) Vu et al. [2021] Vu, T.M., Moezzi, R., Cyrus, J., Hlava, J.: Model predictive control for autonomous driving vehicles. Electronics 10(21), 2593 (2021) Maurović et al. [2011] Maurović, I., Baotić, M., Petrović, I.: Explicit model predictive control for trajectory tracking with mobile robots. In: 2011 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), pp. 712–717 (2011). IEEE Liu et al. [2022] Liu, X., Wang, W., Li, X., Liu, F., He, Z., Yao, Y., Ruan, H., Zhang, T.: Mpc-based high-speed trajectory tracking for 4wis robot. ISA transactions 123, 413–424 (2022) Kanjanawanishkul and Zell [2009] Kanjanawanishkul, K., Zell, A.: Path following for an omnidirectional mobile robot based on model predictive control. In: 2009 IEEE International Conference on Robotics and Automation, pp. 3341–3346 (2009). IEEE Yang et al. [2018] Yang, H., Guo, M., Xia, Y., Cheng, L.: Trajectory tracking for wheeled mobile robots via model predictive control with softening constraints. IET Control Theory & Applications 12(2), 206–214 (2018) Nascimento et al. [2018] Nascimento, T.P., Dórea, C.E.T., Gonçalves, L.M.G.: Nonlinear model predictive control for trajectory tracking of nonholonomic mobile robots: A modified approach. International Journal of Advanced Robotic Systems 15(1), 1729881418760461 (2018) Pacheco and Luo [2015] Pacheco, L., Luo, N.: Testing pid and mpc performance for mobile robot local path-following. International Journal of Advanced Robotic Systems 12(11), 155 (2015) Mayne [2014] Mayne, D.Q.: Model predictive control: Recent developments and future promise. Automatica 50(12), 2967–2986 (2014) Bai et al. [2019] Bai, G., Meng, Y., Liu, L., Luo, W., Gu, Q., Liu, L.: Review and comparison of path tracking based on model predictive control. Electronics 8(10), 1077 (2019) Conceição et al. [2007] Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Vu, T.M., Moezzi, R., Cyrus, J., Hlava, J.: Model predictive control for autonomous driving vehicles. Electronics 10(21), 2593 (2021) Maurović et al. [2011] Maurović, I., Baotić, M., Petrović, I.: Explicit model predictive control for trajectory tracking with mobile robots. In: 2011 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), pp. 712–717 (2011). IEEE Liu et al. [2022] Liu, X., Wang, W., Li, X., Liu, F., He, Z., Yao, Y., Ruan, H., Zhang, T.: Mpc-based high-speed trajectory tracking for 4wis robot. ISA transactions 123, 413–424 (2022) Kanjanawanishkul and Zell [2009] Kanjanawanishkul, K., Zell, A.: Path following for an omnidirectional mobile robot based on model predictive control. In: 2009 IEEE International Conference on Robotics and Automation, pp. 3341–3346 (2009). IEEE Yang et al. [2018] Yang, H., Guo, M., Xia, Y., Cheng, L.: Trajectory tracking for wheeled mobile robots via model predictive control with softening constraints. IET Control Theory & Applications 12(2), 206–214 (2018) Nascimento et al. [2018] Nascimento, T.P., Dórea, C.E.T., Gonçalves, L.M.G.: Nonlinear model predictive control for trajectory tracking of nonholonomic mobile robots: A modified approach. International Journal of Advanced Robotic Systems 15(1), 1729881418760461 (2018) Pacheco and Luo [2015] Pacheco, L., Luo, N.: Testing pid and mpc performance for mobile robot local path-following. International Journal of Advanced Robotic Systems 12(11), 155 (2015) Mayne [2014] Mayne, D.Q.: Model predictive control: Recent developments and future promise. Automatica 50(12), 2967–2986 (2014) Bai et al. [2019] Bai, G., Meng, Y., Liu, L., Luo, W., Gu, Q., Liu, L.: Review and comparison of path tracking based on model predictive control. Electronics 8(10), 1077 (2019) Conceição et al. [2007] Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Maurović, I., Baotić, M., Petrović, I.: Explicit model predictive control for trajectory tracking with mobile robots. In: 2011 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), pp. 712–717 (2011). IEEE Liu et al. [2022] Liu, X., Wang, W., Li, X., Liu, F., He, Z., Yao, Y., Ruan, H., Zhang, T.: Mpc-based high-speed trajectory tracking for 4wis robot. ISA transactions 123, 413–424 (2022) Kanjanawanishkul and Zell [2009] Kanjanawanishkul, K., Zell, A.: Path following for an omnidirectional mobile robot based on model predictive control. In: 2009 IEEE International Conference on Robotics and Automation, pp. 3341–3346 (2009). IEEE Yang et al. [2018] Yang, H., Guo, M., Xia, Y., Cheng, L.: Trajectory tracking for wheeled mobile robots via model predictive control with softening constraints. IET Control Theory & Applications 12(2), 206–214 (2018) Nascimento et al. [2018] Nascimento, T.P., Dórea, C.E.T., Gonçalves, L.M.G.: Nonlinear model predictive control for trajectory tracking of nonholonomic mobile robots: A modified approach. International Journal of Advanced Robotic Systems 15(1), 1729881418760461 (2018) Pacheco and Luo [2015] Pacheco, L., Luo, N.: Testing pid and mpc performance for mobile robot local path-following. International Journal of Advanced Robotic Systems 12(11), 155 (2015) Mayne [2014] Mayne, D.Q.: Model predictive control: Recent developments and future promise. Automatica 50(12), 2967–2986 (2014) Bai et al. [2019] Bai, G., Meng, Y., Liu, L., Luo, W., Gu, Q., Liu, L.: Review and comparison of path tracking based on model predictive control. Electronics 8(10), 1077 (2019) Conceição et al. [2007] Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Liu, X., Wang, W., Li, X., Liu, F., He, Z., Yao, Y., Ruan, H., Zhang, T.: Mpc-based high-speed trajectory tracking for 4wis robot. ISA transactions 123, 413–424 (2022) Kanjanawanishkul and Zell [2009] Kanjanawanishkul, K., Zell, A.: Path following for an omnidirectional mobile robot based on model predictive control. In: 2009 IEEE International Conference on Robotics and Automation, pp. 3341–3346 (2009). IEEE Yang et al. [2018] Yang, H., Guo, M., Xia, Y., Cheng, L.: Trajectory tracking for wheeled mobile robots via model predictive control with softening constraints. IET Control Theory & Applications 12(2), 206–214 (2018) Nascimento et al. [2018] Nascimento, T.P., Dórea, C.E.T., Gonçalves, L.M.G.: Nonlinear model predictive control for trajectory tracking of nonholonomic mobile robots: A modified approach. International Journal of Advanced Robotic Systems 15(1), 1729881418760461 (2018) Pacheco and Luo [2015] Pacheco, L., Luo, N.: Testing pid and mpc performance for mobile robot local path-following. International Journal of Advanced Robotic Systems 12(11), 155 (2015) Mayne [2014] Mayne, D.Q.: Model predictive control: Recent developments and future promise. Automatica 50(12), 2967–2986 (2014) Bai et al. [2019] Bai, G., Meng, Y., Liu, L., Luo, W., Gu, Q., Liu, L.: Review and comparison of path tracking based on model predictive control. Electronics 8(10), 1077 (2019) Conceição et al. [2007] Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Kanjanawanishkul, K., Zell, A.: Path following for an omnidirectional mobile robot based on model predictive control. In: 2009 IEEE International Conference on Robotics and Automation, pp. 3341–3346 (2009). IEEE Yang et al. [2018] Yang, H., Guo, M., Xia, Y., Cheng, L.: Trajectory tracking for wheeled mobile robots via model predictive control with softening constraints. IET Control Theory & Applications 12(2), 206–214 (2018) Nascimento et al. [2018] Nascimento, T.P., Dórea, C.E.T., Gonçalves, L.M.G.: Nonlinear model predictive control for trajectory tracking of nonholonomic mobile robots: A modified approach. International Journal of Advanced Robotic Systems 15(1), 1729881418760461 (2018) Pacheco and Luo [2015] Pacheco, L., Luo, N.: Testing pid and mpc performance for mobile robot local path-following. International Journal of Advanced Robotic Systems 12(11), 155 (2015) Mayne [2014] Mayne, D.Q.: Model predictive control: Recent developments and future promise. Automatica 50(12), 2967–2986 (2014) Bai et al. [2019] Bai, G., Meng, Y., Liu, L., Luo, W., Gu, Q., Liu, L.: Review and comparison of path tracking based on model predictive control. Electronics 8(10), 1077 (2019) Conceição et al. [2007] Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Yang, H., Guo, M., Xia, Y., Cheng, L.: Trajectory tracking for wheeled mobile robots via model predictive control with softening constraints. IET Control Theory & Applications 12(2), 206–214 (2018) Nascimento et al. [2018] Nascimento, T.P., Dórea, C.E.T., Gonçalves, L.M.G.: Nonlinear model predictive control for trajectory tracking of nonholonomic mobile robots: A modified approach. International Journal of Advanced Robotic Systems 15(1), 1729881418760461 (2018) Pacheco and Luo [2015] Pacheco, L., Luo, N.: Testing pid and mpc performance for mobile robot local path-following. International Journal of Advanced Robotic Systems 12(11), 155 (2015) Mayne [2014] Mayne, D.Q.: Model predictive control: Recent developments and future promise. Automatica 50(12), 2967–2986 (2014) Bai et al. [2019] Bai, G., Meng, Y., Liu, L., Luo, W., Gu, Q., Liu, L.: Review and comparison of path tracking based on model predictive control. Electronics 8(10), 1077 (2019) Conceição et al. [2007] Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Nascimento, T.P., Dórea, C.E.T., Gonçalves, L.M.G.: Nonlinear model predictive control for trajectory tracking of nonholonomic mobile robots: A modified approach. International Journal of Advanced Robotic Systems 15(1), 1729881418760461 (2018) Pacheco and Luo [2015] Pacheco, L., Luo, N.: Testing pid and mpc performance for mobile robot local path-following. International Journal of Advanced Robotic Systems 12(11), 155 (2015) Mayne [2014] Mayne, D.Q.: Model predictive control: Recent developments and future promise. Automatica 50(12), 2967–2986 (2014) Bai et al. [2019] Bai, G., Meng, Y., Liu, L., Luo, W., Gu, Q., Liu, L.: Review and comparison of path tracking based on model predictive control. Electronics 8(10), 1077 (2019) Conceição et al. [2007] Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Pacheco, L., Luo, N.: Testing pid and mpc performance for mobile robot local path-following. International Journal of Advanced Robotic Systems 12(11), 155 (2015) Mayne [2014] Mayne, D.Q.: Model predictive control: Recent developments and future promise. Automatica 50(12), 2967–2986 (2014) Bai et al. [2019] Bai, G., Meng, Y., Liu, L., Luo, W., Gu, Q., Liu, L.: Review and comparison of path tracking based on model predictive control. Electronics 8(10), 1077 (2019) Conceição et al. [2007] Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Mayne, D.Q.: Model predictive control: Recent developments and future promise. Automatica 50(12), 2967–2986 (2014) Bai et al. [2019] Bai, G., Meng, Y., Liu, L., Luo, W., Gu, Q., Liu, L.: Review and comparison of path tracking based on model predictive control. Electronics 8(10), 1077 (2019) Conceição et al. [2007] Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Bai, G., Meng, Y., Liu, L., Luo, W., Gu, Q., Liu, L.: Review and comparison of path tracking based on model predictive control. Electronics 8(10), 1077 (2019) Conceição et al. [2007] Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019)
- Somwanshi, D., Bundele, M., Kumar, G., Parashar, G.: Comparison of fuzzy-pid and pid controller for speed control of dc motor using labview. Procedia Computer Science 152, 252–260 (2019) Lee et al. [2018] Lee, K., Im, D.-Y., Kwak, B., Ryoo, Y.-J., et al.: Design of fuzzy-pid controller for path tracking of mobile robot with differential drive. International Journal of Fuzzy Logic and Intelligent Systems 18(3), 220–228 (2018) Jiang and Jiang [2012] Jiang, W., Jiang, X.: Design of an intelligent temperature control system based on the fuzzy self-tuning pid. Procedia Engineering 43, 307–311 (2012) Bansal and Narvey [2013] Bansal, U.K., Narvey, R.: Speed control of dc motor using fuzzy pid controller. Advance in Electronic and Electric Engineering 3(9), 1209–1220 (2013) Chao et al. [2019] Chao, C.-T., Sutarna, N., Chiou, J.-S., Wang, C.-J.: An optimal fuzzy pid controller design based on conventional pid control and nonlinear factors. Applied Sciences 9(6), 1224 (2019) Nour et al. [2007] Nour, M., Ooi, J., Chan, K.: Fuzzy logic control vs. conventional pid control of an inverted pendulum robot. In: 2007 International Conference on Intelligent and Advanced Systems, pp. 209–214 (2007). IEEE Alouache and Wu [2018] Alouache, A., Wu, Q.: Fuzzy logic pd controller for trajectory tracking of an autonomous differential drive mobile robot (ie quanser qbot). Industrial Robot: An International Journal 45(1), 23–33 (2018) Hashemi et al. [2011] Hashemi, E., Jadidi, M.G., Jadidi, N.G.: Model-based pi–fuzzy control of four-wheeled omni-directional mobile robots. Robotics and Autonomous Systems 59(11), 930–942 (2011) Abiyev et al. [2017] Abiyev, R.H., Günsel, I.S., Akkaya, N., Aytac, E., Çağman, A., Abizada, S.: Fuzzy control of omnidirectional robot. Procedia Computer Science 120, 608–616 (2017) Vu et al. [2021] Vu, T.M., Moezzi, R., Cyrus, J., Hlava, J.: Model predictive control for autonomous driving vehicles. Electronics 10(21), 2593 (2021) Maurović et al. [2011] Maurović, I., Baotić, M., Petrović, I.: Explicit model predictive control for trajectory tracking with mobile robots. In: 2011 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), pp. 712–717 (2011). IEEE Liu et al. [2022] Liu, X., Wang, W., Li, X., Liu, F., He, Z., Yao, Y., Ruan, H., Zhang, T.: Mpc-based high-speed trajectory tracking for 4wis robot. ISA transactions 123, 413–424 (2022) Kanjanawanishkul and Zell [2009] Kanjanawanishkul, K., Zell, A.: Path following for an omnidirectional mobile robot based on model predictive control. In: 2009 IEEE International Conference on Robotics and Automation, pp. 3341–3346 (2009). IEEE Yang et al. [2018] Yang, H., Guo, M., Xia, Y., Cheng, L.: Trajectory tracking for wheeled mobile robots via model predictive control with softening constraints. IET Control Theory & Applications 12(2), 206–214 (2018) Nascimento et al. [2018] Nascimento, T.P., Dórea, C.E.T., Gonçalves, L.M.G.: Nonlinear model predictive control for trajectory tracking of nonholonomic mobile robots: A modified approach. International Journal of Advanced Robotic Systems 15(1), 1729881418760461 (2018) Pacheco and Luo [2015] Pacheco, L., Luo, N.: Testing pid and mpc performance for mobile robot local path-following. International Journal of Advanced Robotic Systems 12(11), 155 (2015) Mayne [2014] Mayne, D.Q.: Model predictive control: Recent developments and future promise. Automatica 50(12), 2967–2986 (2014) Bai et al. [2019] Bai, G., Meng, Y., Liu, L., Luo, W., Gu, Q., Liu, L.: Review and comparison of path tracking based on model predictive control. Electronics 8(10), 1077 (2019) Conceição et al. [2007] Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Lee, K., Im, D.-Y., Kwak, B., Ryoo, Y.-J., et al.: Design of fuzzy-pid controller for path tracking of mobile robot with differential drive. International Journal of Fuzzy Logic and Intelligent Systems 18(3), 220–228 (2018) Jiang and Jiang [2012] Jiang, W., Jiang, X.: Design of an intelligent temperature control system based on the fuzzy self-tuning pid. Procedia Engineering 43, 307–311 (2012) Bansal and Narvey [2013] Bansal, U.K., Narvey, R.: Speed control of dc motor using fuzzy pid controller. Advance in Electronic and Electric Engineering 3(9), 1209–1220 (2013) Chao et al. [2019] Chao, C.-T., Sutarna, N., Chiou, J.-S., Wang, C.-J.: An optimal fuzzy pid controller design based on conventional pid control and nonlinear factors. Applied Sciences 9(6), 1224 (2019) Nour et al. [2007] Nour, M., Ooi, J., Chan, K.: Fuzzy logic control vs. conventional pid control of an inverted pendulum robot. In: 2007 International Conference on Intelligent and Advanced Systems, pp. 209–214 (2007). IEEE Alouache and Wu [2018] Alouache, A., Wu, Q.: Fuzzy logic pd controller for trajectory tracking of an autonomous differential drive mobile robot (ie quanser qbot). Industrial Robot: An International Journal 45(1), 23–33 (2018) Hashemi et al. [2011] Hashemi, E., Jadidi, M.G., Jadidi, N.G.: Model-based pi–fuzzy control of four-wheeled omni-directional mobile robots. Robotics and Autonomous Systems 59(11), 930–942 (2011) Abiyev et al. [2017] Abiyev, R.H., Günsel, I.S., Akkaya, N., Aytac, E., Çağman, A., Abizada, S.: Fuzzy control of omnidirectional robot. Procedia Computer Science 120, 608–616 (2017) Vu et al. [2021] Vu, T.M., Moezzi, R., Cyrus, J., Hlava, J.: Model predictive control for autonomous driving vehicles. Electronics 10(21), 2593 (2021) Maurović et al. [2011] Maurović, I., Baotić, M., Petrović, I.: Explicit model predictive control for trajectory tracking with mobile robots. In: 2011 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), pp. 712–717 (2011). IEEE Liu et al. [2022] Liu, X., Wang, W., Li, X., Liu, F., He, Z., Yao, Y., Ruan, H., Zhang, T.: Mpc-based high-speed trajectory tracking for 4wis robot. ISA transactions 123, 413–424 (2022) Kanjanawanishkul and Zell [2009] Kanjanawanishkul, K., Zell, A.: Path following for an omnidirectional mobile robot based on model predictive control. In: 2009 IEEE International Conference on Robotics and Automation, pp. 3341–3346 (2009). IEEE Yang et al. [2018] Yang, H., Guo, M., Xia, Y., Cheng, L.: Trajectory tracking for wheeled mobile robots via model predictive control with softening constraints. IET Control Theory & Applications 12(2), 206–214 (2018) Nascimento et al. [2018] Nascimento, T.P., Dórea, C.E.T., Gonçalves, L.M.G.: Nonlinear model predictive control for trajectory tracking of nonholonomic mobile robots: A modified approach. International Journal of Advanced Robotic Systems 15(1), 1729881418760461 (2018) Pacheco and Luo [2015] Pacheco, L., Luo, N.: Testing pid and mpc performance for mobile robot local path-following. International Journal of Advanced Robotic Systems 12(11), 155 (2015) Mayne [2014] Mayne, D.Q.: Model predictive control: Recent developments and future promise. Automatica 50(12), 2967–2986 (2014) Bai et al. [2019] Bai, G., Meng, Y., Liu, L., Luo, W., Gu, Q., Liu, L.: Review and comparison of path tracking based on model predictive control. Electronics 8(10), 1077 (2019) Conceição et al. [2007] Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Jiang, W., Jiang, X.: Design of an intelligent temperature control system based on the fuzzy self-tuning pid. Procedia Engineering 43, 307–311 (2012) Bansal and Narvey [2013] Bansal, U.K., Narvey, R.: Speed control of dc motor using fuzzy pid controller. Advance in Electronic and Electric Engineering 3(9), 1209–1220 (2013) Chao et al. [2019] Chao, C.-T., Sutarna, N., Chiou, J.-S., Wang, C.-J.: An optimal fuzzy pid controller design based on conventional pid control and nonlinear factors. Applied Sciences 9(6), 1224 (2019) Nour et al. [2007] Nour, M., Ooi, J., Chan, K.: Fuzzy logic control vs. conventional pid control of an inverted pendulum robot. In: 2007 International Conference on Intelligent and Advanced Systems, pp. 209–214 (2007). IEEE Alouache and Wu [2018] Alouache, A., Wu, Q.: Fuzzy logic pd controller for trajectory tracking of an autonomous differential drive mobile robot (ie quanser qbot). Industrial Robot: An International Journal 45(1), 23–33 (2018) Hashemi et al. [2011] Hashemi, E., Jadidi, M.G., Jadidi, N.G.: Model-based pi–fuzzy control of four-wheeled omni-directional mobile robots. Robotics and Autonomous Systems 59(11), 930–942 (2011) Abiyev et al. [2017] Abiyev, R.H., Günsel, I.S., Akkaya, N., Aytac, E., Çağman, A., Abizada, S.: Fuzzy control of omnidirectional robot. Procedia Computer Science 120, 608–616 (2017) Vu et al. [2021] Vu, T.M., Moezzi, R., Cyrus, J., Hlava, J.: Model predictive control for autonomous driving vehicles. Electronics 10(21), 2593 (2021) Maurović et al. [2011] Maurović, I., Baotić, M., Petrović, I.: Explicit model predictive control for trajectory tracking with mobile robots. In: 2011 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), pp. 712–717 (2011). IEEE Liu et al. [2022] Liu, X., Wang, W., Li, X., Liu, F., He, Z., Yao, Y., Ruan, H., Zhang, T.: Mpc-based high-speed trajectory tracking for 4wis robot. ISA transactions 123, 413–424 (2022) Kanjanawanishkul and Zell [2009] Kanjanawanishkul, K., Zell, A.: Path following for an omnidirectional mobile robot based on model predictive control. In: 2009 IEEE International Conference on Robotics and Automation, pp. 3341–3346 (2009). IEEE Yang et al. [2018] Yang, H., Guo, M., Xia, Y., Cheng, L.: Trajectory tracking for wheeled mobile robots via model predictive control with softening constraints. IET Control Theory & Applications 12(2), 206–214 (2018) Nascimento et al. [2018] Nascimento, T.P., Dórea, C.E.T., Gonçalves, L.M.G.: Nonlinear model predictive control for trajectory tracking of nonholonomic mobile robots: A modified approach. International Journal of Advanced Robotic Systems 15(1), 1729881418760461 (2018) Pacheco and Luo [2015] Pacheco, L., Luo, N.: Testing pid and mpc performance for mobile robot local path-following. International Journal of Advanced Robotic Systems 12(11), 155 (2015) Mayne [2014] Mayne, D.Q.: Model predictive control: Recent developments and future promise. Automatica 50(12), 2967–2986 (2014) Bai et al. [2019] Bai, G., Meng, Y., Liu, L., Luo, W., Gu, Q., Liu, L.: Review and comparison of path tracking based on model predictive control. Electronics 8(10), 1077 (2019) Conceição et al. [2007] Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Bansal, U.K., Narvey, R.: Speed control of dc motor using fuzzy pid controller. Advance in Electronic and Electric Engineering 3(9), 1209–1220 (2013) Chao et al. [2019] Chao, C.-T., Sutarna, N., Chiou, J.-S., Wang, C.-J.: An optimal fuzzy pid controller design based on conventional pid control and nonlinear factors. Applied Sciences 9(6), 1224 (2019) Nour et al. [2007] Nour, M., Ooi, J., Chan, K.: Fuzzy logic control vs. conventional pid control of an inverted pendulum robot. In: 2007 International Conference on Intelligent and Advanced Systems, pp. 209–214 (2007). IEEE Alouache and Wu [2018] Alouache, A., Wu, Q.: Fuzzy logic pd controller for trajectory tracking of an autonomous differential drive mobile robot (ie quanser qbot). Industrial Robot: An International Journal 45(1), 23–33 (2018) Hashemi et al. [2011] Hashemi, E., Jadidi, M.G., Jadidi, N.G.: Model-based pi–fuzzy control of four-wheeled omni-directional mobile robots. Robotics and Autonomous Systems 59(11), 930–942 (2011) Abiyev et al. [2017] Abiyev, R.H., Günsel, I.S., Akkaya, N., Aytac, E., Çağman, A., Abizada, S.: Fuzzy control of omnidirectional robot. Procedia Computer Science 120, 608–616 (2017) Vu et al. [2021] Vu, T.M., Moezzi, R., Cyrus, J., Hlava, J.: Model predictive control for autonomous driving vehicles. Electronics 10(21), 2593 (2021) Maurović et al. [2011] Maurović, I., Baotić, M., Petrović, I.: Explicit model predictive control for trajectory tracking with mobile robots. In: 2011 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), pp. 712–717 (2011). IEEE Liu et al. [2022] Liu, X., Wang, W., Li, X., Liu, F., He, Z., Yao, Y., Ruan, H., Zhang, T.: Mpc-based high-speed trajectory tracking for 4wis robot. ISA transactions 123, 413–424 (2022) Kanjanawanishkul and Zell [2009] Kanjanawanishkul, K., Zell, A.: Path following for an omnidirectional mobile robot based on model predictive control. In: 2009 IEEE International Conference on Robotics and Automation, pp. 3341–3346 (2009). IEEE Yang et al. [2018] Yang, H., Guo, M., Xia, Y., Cheng, L.: Trajectory tracking for wheeled mobile robots via model predictive control with softening constraints. IET Control Theory & Applications 12(2), 206–214 (2018) Nascimento et al. [2018] Nascimento, T.P., Dórea, C.E.T., Gonçalves, L.M.G.: Nonlinear model predictive control for trajectory tracking of nonholonomic mobile robots: A modified approach. International Journal of Advanced Robotic Systems 15(1), 1729881418760461 (2018) Pacheco and Luo [2015] Pacheco, L., Luo, N.: Testing pid and mpc performance for mobile robot local path-following. International Journal of Advanced Robotic Systems 12(11), 155 (2015) Mayne [2014] Mayne, D.Q.: Model predictive control: Recent developments and future promise. Automatica 50(12), 2967–2986 (2014) Bai et al. [2019] Bai, G., Meng, Y., Liu, L., Luo, W., Gu, Q., Liu, L.: Review and comparison of path tracking based on model predictive control. Electronics 8(10), 1077 (2019) Conceição et al. [2007] Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Chao, C.-T., Sutarna, N., Chiou, J.-S., Wang, C.-J.: An optimal fuzzy pid controller design based on conventional pid control and nonlinear factors. Applied Sciences 9(6), 1224 (2019) Nour et al. [2007] Nour, M., Ooi, J., Chan, K.: Fuzzy logic control vs. conventional pid control of an inverted pendulum robot. In: 2007 International Conference on Intelligent and Advanced Systems, pp. 209–214 (2007). IEEE Alouache and Wu [2018] Alouache, A., Wu, Q.: Fuzzy logic pd controller for trajectory tracking of an autonomous differential drive mobile robot (ie quanser qbot). Industrial Robot: An International Journal 45(1), 23–33 (2018) Hashemi et al. [2011] Hashemi, E., Jadidi, M.G., Jadidi, N.G.: Model-based pi–fuzzy control of four-wheeled omni-directional mobile robots. Robotics and Autonomous Systems 59(11), 930–942 (2011) Abiyev et al. [2017] Abiyev, R.H., Günsel, I.S., Akkaya, N., Aytac, E., Çağman, A., Abizada, S.: Fuzzy control of omnidirectional robot. Procedia Computer Science 120, 608–616 (2017) Vu et al. [2021] Vu, T.M., Moezzi, R., Cyrus, J., Hlava, J.: Model predictive control for autonomous driving vehicles. Electronics 10(21), 2593 (2021) Maurović et al. [2011] Maurović, I., Baotić, M., Petrović, I.: Explicit model predictive control for trajectory tracking with mobile robots. In: 2011 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), pp. 712–717 (2011). IEEE Liu et al. [2022] Liu, X., Wang, W., Li, X., Liu, F., He, Z., Yao, Y., Ruan, H., Zhang, T.: Mpc-based high-speed trajectory tracking for 4wis robot. ISA transactions 123, 413–424 (2022) Kanjanawanishkul and Zell [2009] Kanjanawanishkul, K., Zell, A.: Path following for an omnidirectional mobile robot based on model predictive control. In: 2009 IEEE International Conference on Robotics and Automation, pp. 3341–3346 (2009). IEEE Yang et al. [2018] Yang, H., Guo, M., Xia, Y., Cheng, L.: Trajectory tracking for wheeled mobile robots via model predictive control with softening constraints. IET Control Theory & Applications 12(2), 206–214 (2018) Nascimento et al. [2018] Nascimento, T.P., Dórea, C.E.T., Gonçalves, L.M.G.: Nonlinear model predictive control for trajectory tracking of nonholonomic mobile robots: A modified approach. International Journal of Advanced Robotic Systems 15(1), 1729881418760461 (2018) Pacheco and Luo [2015] Pacheco, L., Luo, N.: Testing pid and mpc performance for mobile robot local path-following. International Journal of Advanced Robotic Systems 12(11), 155 (2015) Mayne [2014] Mayne, D.Q.: Model predictive control: Recent developments and future promise. Automatica 50(12), 2967–2986 (2014) Bai et al. [2019] Bai, G., Meng, Y., Liu, L., Luo, W., Gu, Q., Liu, L.: Review and comparison of path tracking based on model predictive control. Electronics 8(10), 1077 (2019) Conceição et al. [2007] Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Nour, M., Ooi, J., Chan, K.: Fuzzy logic control vs. conventional pid control of an inverted pendulum robot. In: 2007 International Conference on Intelligent and Advanced Systems, pp. 209–214 (2007). IEEE Alouache and Wu [2018] Alouache, A., Wu, Q.: Fuzzy logic pd controller for trajectory tracking of an autonomous differential drive mobile robot (ie quanser qbot). Industrial Robot: An International Journal 45(1), 23–33 (2018) Hashemi et al. [2011] Hashemi, E., Jadidi, M.G., Jadidi, N.G.: Model-based pi–fuzzy control of four-wheeled omni-directional mobile robots. Robotics and Autonomous Systems 59(11), 930–942 (2011) Abiyev et al. [2017] Abiyev, R.H., Günsel, I.S., Akkaya, N., Aytac, E., Çağman, A., Abizada, S.: Fuzzy control of omnidirectional robot. Procedia Computer Science 120, 608–616 (2017) Vu et al. [2021] Vu, T.M., Moezzi, R., Cyrus, J., Hlava, J.: Model predictive control for autonomous driving vehicles. Electronics 10(21), 2593 (2021) Maurović et al. [2011] Maurović, I., Baotić, M., Petrović, I.: Explicit model predictive control for trajectory tracking with mobile robots. In: 2011 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), pp. 712–717 (2011). IEEE Liu et al. [2022] Liu, X., Wang, W., Li, X., Liu, F., He, Z., Yao, Y., Ruan, H., Zhang, T.: Mpc-based high-speed trajectory tracking for 4wis robot. ISA transactions 123, 413–424 (2022) Kanjanawanishkul and Zell [2009] Kanjanawanishkul, K., Zell, A.: Path following for an omnidirectional mobile robot based on model predictive control. In: 2009 IEEE International Conference on Robotics and Automation, pp. 3341–3346 (2009). IEEE Yang et al. [2018] Yang, H., Guo, M., Xia, Y., Cheng, L.: Trajectory tracking for wheeled mobile robots via model predictive control with softening constraints. IET Control Theory & Applications 12(2), 206–214 (2018) Nascimento et al. [2018] Nascimento, T.P., Dórea, C.E.T., Gonçalves, L.M.G.: Nonlinear model predictive control for trajectory tracking of nonholonomic mobile robots: A modified approach. International Journal of Advanced Robotic Systems 15(1), 1729881418760461 (2018) Pacheco and Luo [2015] Pacheco, L., Luo, N.: Testing pid and mpc performance for mobile robot local path-following. International Journal of Advanced Robotic Systems 12(11), 155 (2015) Mayne [2014] Mayne, D.Q.: Model predictive control: Recent developments and future promise. Automatica 50(12), 2967–2986 (2014) Bai et al. [2019] Bai, G., Meng, Y., Liu, L., Luo, W., Gu, Q., Liu, L.: Review and comparison of path tracking based on model predictive control. Electronics 8(10), 1077 (2019) Conceição et al. [2007] Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Alouache, A., Wu, Q.: Fuzzy logic pd controller for trajectory tracking of an autonomous differential drive mobile robot (ie quanser qbot). Industrial Robot: An International Journal 45(1), 23–33 (2018) Hashemi et al. [2011] Hashemi, E., Jadidi, M.G., Jadidi, N.G.: Model-based pi–fuzzy control of four-wheeled omni-directional mobile robots. Robotics and Autonomous Systems 59(11), 930–942 (2011) Abiyev et al. [2017] Abiyev, R.H., Günsel, I.S., Akkaya, N., Aytac, E., Çağman, A., Abizada, S.: Fuzzy control of omnidirectional robot. Procedia Computer Science 120, 608–616 (2017) Vu et al. [2021] Vu, T.M., Moezzi, R., Cyrus, J., Hlava, J.: Model predictive control for autonomous driving vehicles. Electronics 10(21), 2593 (2021) Maurović et al. [2011] Maurović, I., Baotić, M., Petrović, I.: Explicit model predictive control for trajectory tracking with mobile robots. In: 2011 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), pp. 712–717 (2011). IEEE Liu et al. [2022] Liu, X., Wang, W., Li, X., Liu, F., He, Z., Yao, Y., Ruan, H., Zhang, T.: Mpc-based high-speed trajectory tracking for 4wis robot. ISA transactions 123, 413–424 (2022) Kanjanawanishkul and Zell [2009] Kanjanawanishkul, K., Zell, A.: Path following for an omnidirectional mobile robot based on model predictive control. In: 2009 IEEE International Conference on Robotics and Automation, pp. 3341–3346 (2009). IEEE Yang et al. [2018] Yang, H., Guo, M., Xia, Y., Cheng, L.: Trajectory tracking for wheeled mobile robots via model predictive control with softening constraints. IET Control Theory & Applications 12(2), 206–214 (2018) Nascimento et al. [2018] Nascimento, T.P., Dórea, C.E.T., Gonçalves, L.M.G.: Nonlinear model predictive control for trajectory tracking of nonholonomic mobile robots: A modified approach. International Journal of Advanced Robotic Systems 15(1), 1729881418760461 (2018) Pacheco and Luo [2015] Pacheco, L., Luo, N.: Testing pid and mpc performance for mobile robot local path-following. International Journal of Advanced Robotic Systems 12(11), 155 (2015) Mayne [2014] Mayne, D.Q.: Model predictive control: Recent developments and future promise. Automatica 50(12), 2967–2986 (2014) Bai et al. [2019] Bai, G., Meng, Y., Liu, L., Luo, W., Gu, Q., Liu, L.: Review and comparison of path tracking based on model predictive control. Electronics 8(10), 1077 (2019) Conceição et al. [2007] Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Hashemi, E., Jadidi, M.G., Jadidi, N.G.: Model-based pi–fuzzy control of four-wheeled omni-directional mobile robots. Robotics and Autonomous Systems 59(11), 930–942 (2011) Abiyev et al. [2017] Abiyev, R.H., Günsel, I.S., Akkaya, N., Aytac, E., Çağman, A., Abizada, S.: Fuzzy control of omnidirectional robot. Procedia Computer Science 120, 608–616 (2017) Vu et al. [2021] Vu, T.M., Moezzi, R., Cyrus, J., Hlava, J.: Model predictive control for autonomous driving vehicles. Electronics 10(21), 2593 (2021) Maurović et al. [2011] Maurović, I., Baotić, M., Petrović, I.: Explicit model predictive control for trajectory tracking with mobile robots. In: 2011 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), pp. 712–717 (2011). IEEE Liu et al. [2022] Liu, X., Wang, W., Li, X., Liu, F., He, Z., Yao, Y., Ruan, H., Zhang, T.: Mpc-based high-speed trajectory tracking for 4wis robot. ISA transactions 123, 413–424 (2022) Kanjanawanishkul and Zell [2009] Kanjanawanishkul, K., Zell, A.: Path following for an omnidirectional mobile robot based on model predictive control. In: 2009 IEEE International Conference on Robotics and Automation, pp. 3341–3346 (2009). IEEE Yang et al. [2018] Yang, H., Guo, M., Xia, Y., Cheng, L.: Trajectory tracking for wheeled mobile robots via model predictive control with softening constraints. IET Control Theory & Applications 12(2), 206–214 (2018) Nascimento et al. [2018] Nascimento, T.P., Dórea, C.E.T., Gonçalves, L.M.G.: Nonlinear model predictive control for trajectory tracking of nonholonomic mobile robots: A modified approach. International Journal of Advanced Robotic Systems 15(1), 1729881418760461 (2018) Pacheco and Luo [2015] Pacheco, L., Luo, N.: Testing pid and mpc performance for mobile robot local path-following. International Journal of Advanced Robotic Systems 12(11), 155 (2015) Mayne [2014] Mayne, D.Q.: Model predictive control: Recent developments and future promise. Automatica 50(12), 2967–2986 (2014) Bai et al. [2019] Bai, G., Meng, Y., Liu, L., Luo, W., Gu, Q., Liu, L.: Review and comparison of path tracking based on model predictive control. Electronics 8(10), 1077 (2019) Conceição et al. [2007] Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Abiyev, R.H., Günsel, I.S., Akkaya, N., Aytac, E., Çağman, A., Abizada, S.: Fuzzy control of omnidirectional robot. Procedia Computer Science 120, 608–616 (2017) Vu et al. [2021] Vu, T.M., Moezzi, R., Cyrus, J., Hlava, J.: Model predictive control for autonomous driving vehicles. Electronics 10(21), 2593 (2021) Maurović et al. [2011] Maurović, I., Baotić, M., Petrović, I.: Explicit model predictive control for trajectory tracking with mobile robots. In: 2011 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), pp. 712–717 (2011). IEEE Liu et al. [2022] Liu, X., Wang, W., Li, X., Liu, F., He, Z., Yao, Y., Ruan, H., Zhang, T.: Mpc-based high-speed trajectory tracking for 4wis robot. 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(2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Vu, T.M., Moezzi, R., Cyrus, J., Hlava, J.: Model predictive control for autonomous driving vehicles. Electronics 10(21), 2593 (2021) Maurović et al. 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In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Maurović, I., Baotić, M., Petrović, I.: Explicit model predictive control for trajectory tracking with mobile robots. In: 2011 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), pp. 712–717 (2011). IEEE Liu et al. [2022] Liu, X., Wang, W., Li, X., Liu, F., He, Z., Yao, Y., Ruan, H., Zhang, T.: Mpc-based high-speed trajectory tracking for 4wis robot. ISA transactions 123, 413–424 (2022) Kanjanawanishkul and Zell [2009] Kanjanawanishkul, K., Zell, A.: Path following for an omnidirectional mobile robot based on model predictive control. In: 2009 IEEE International Conference on Robotics and Automation, pp. 3341–3346 (2009). IEEE Yang et al. [2018] Yang, H., Guo, M., Xia, Y., Cheng, L.: Trajectory tracking for wheeled mobile robots via model predictive control with softening constraints. IET Control Theory & Applications 12(2), 206–214 (2018) Nascimento et al. [2018] Nascimento, T.P., Dórea, C.E.T., Gonçalves, L.M.G.: Nonlinear model predictive control for trajectory tracking of nonholonomic mobile robots: A modified approach. International Journal of Advanced Robotic Systems 15(1), 1729881418760461 (2018) Pacheco and Luo [2015] Pacheco, L., Luo, N.: Testing pid and mpc performance for mobile robot local path-following. International Journal of Advanced Robotic Systems 12(11), 155 (2015) Mayne [2014] Mayne, D.Q.: Model predictive control: Recent developments and future promise. Automatica 50(12), 2967–2986 (2014) Bai et al. [2019] Bai, G., Meng, Y., Liu, L., Luo, W., Gu, Q., Liu, L.: Review and comparison of path tracking based on model predictive control. Electronics 8(10), 1077 (2019) Conceição et al. [2007] Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Liu, X., Wang, W., Li, X., Liu, F., He, Z., Yao, Y., Ruan, H., Zhang, T.: Mpc-based high-speed trajectory tracking for 4wis robot. ISA transactions 123, 413–424 (2022) Kanjanawanishkul and Zell [2009] Kanjanawanishkul, K., Zell, A.: Path following for an omnidirectional mobile robot based on model predictive control. In: 2009 IEEE International Conference on Robotics and Automation, pp. 3341–3346 (2009). IEEE Yang et al. [2018] Yang, H., Guo, M., Xia, Y., Cheng, L.: Trajectory tracking for wheeled mobile robots via model predictive control with softening constraints. IET Control Theory & Applications 12(2), 206–214 (2018) Nascimento et al. [2018] Nascimento, T.P., Dórea, C.E.T., Gonçalves, L.M.G.: Nonlinear model predictive control for trajectory tracking of nonholonomic mobile robots: A modified approach. International Journal of Advanced Robotic Systems 15(1), 1729881418760461 (2018) Pacheco and Luo [2015] Pacheco, L., Luo, N.: Testing pid and mpc performance for mobile robot local path-following. International Journal of Advanced Robotic Systems 12(11), 155 (2015) Mayne [2014] Mayne, D.Q.: Model predictive control: Recent developments and future promise. Automatica 50(12), 2967–2986 (2014) Bai et al. [2019] Bai, G., Meng, Y., Liu, L., Luo, W., Gu, Q., Liu, L.: Review and comparison of path tracking based on model predictive control. Electronics 8(10), 1077 (2019) Conceição et al. [2007] Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Kanjanawanishkul, K., Zell, A.: Path following for an omnidirectional mobile robot based on model predictive control. In: 2009 IEEE International Conference on Robotics and Automation, pp. 3341–3346 (2009). IEEE Yang et al. [2018] Yang, H., Guo, M., Xia, Y., Cheng, L.: Trajectory tracking for wheeled mobile robots via model predictive control with softening constraints. IET Control Theory & Applications 12(2), 206–214 (2018) Nascimento et al. [2018] Nascimento, T.P., Dórea, C.E.T., Gonçalves, L.M.G.: Nonlinear model predictive control for trajectory tracking of nonholonomic mobile robots: A modified approach. International Journal of Advanced Robotic Systems 15(1), 1729881418760461 (2018) Pacheco and Luo [2015] Pacheco, L., Luo, N.: Testing pid and mpc performance for mobile robot local path-following. International Journal of Advanced Robotic Systems 12(11), 155 (2015) Mayne [2014] Mayne, D.Q.: Model predictive control: Recent developments and future promise. Automatica 50(12), 2967–2986 (2014) Bai et al. [2019] Bai, G., Meng, Y., Liu, L., Luo, W., Gu, Q., Liu, L.: Review and comparison of path tracking based on model predictive control. Electronics 8(10), 1077 (2019) Conceição et al. [2007] Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Yang, H., Guo, M., Xia, Y., Cheng, L.: Trajectory tracking for wheeled mobile robots via model predictive control with softening constraints. IET Control Theory & Applications 12(2), 206–214 (2018) Nascimento et al. [2018] Nascimento, T.P., Dórea, C.E.T., Gonçalves, L.M.G.: Nonlinear model predictive control for trajectory tracking of nonholonomic mobile robots: A modified approach. International Journal of Advanced Robotic Systems 15(1), 1729881418760461 (2018) Pacheco and Luo [2015] Pacheco, L., Luo, N.: Testing pid and mpc performance for mobile robot local path-following. International Journal of Advanced Robotic Systems 12(11), 155 (2015) Mayne [2014] Mayne, D.Q.: Model predictive control: Recent developments and future promise. Automatica 50(12), 2967–2986 (2014) Bai et al. [2019] Bai, G., Meng, Y., Liu, L., Luo, W., Gu, Q., Liu, L.: Review and comparison of path tracking based on model predictive control. Electronics 8(10), 1077 (2019) Conceição et al. [2007] Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Nascimento, T.P., Dórea, C.E.T., Gonçalves, L.M.G.: Nonlinear model predictive control for trajectory tracking of nonholonomic mobile robots: A modified approach. International Journal of Advanced Robotic Systems 15(1), 1729881418760461 (2018) Pacheco and Luo [2015] Pacheco, L., Luo, N.: Testing pid and mpc performance for mobile robot local path-following. International Journal of Advanced Robotic Systems 12(11), 155 (2015) Mayne [2014] Mayne, D.Q.: Model predictive control: Recent developments and future promise. Automatica 50(12), 2967–2986 (2014) Bai et al. [2019] Bai, G., Meng, Y., Liu, L., Luo, W., Gu, Q., Liu, L.: Review and comparison of path tracking based on model predictive control. Electronics 8(10), 1077 (2019) Conceição et al. [2007] Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Pacheco, L., Luo, N.: Testing pid and mpc performance for mobile robot local path-following. International Journal of Advanced Robotic Systems 12(11), 155 (2015) Mayne [2014] Mayne, D.Q.: Model predictive control: Recent developments and future promise. Automatica 50(12), 2967–2986 (2014) Bai et al. [2019] Bai, G., Meng, Y., Liu, L., Luo, W., Gu, Q., Liu, L.: Review and comparison of path tracking based on model predictive control. Electronics 8(10), 1077 (2019) Conceição et al. [2007] Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Mayne, D.Q.: Model predictive control: Recent developments and future promise. Automatica 50(12), 2967–2986 (2014) Bai et al. [2019] Bai, G., Meng, Y., Liu, L., Luo, W., Gu, Q., Liu, L.: Review and comparison of path tracking based on model predictive control. Electronics 8(10), 1077 (2019) Conceição et al. [2007] Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Bai, G., Meng, Y., Liu, L., Luo, W., Gu, Q., Liu, L.: Review and comparison of path tracking based on model predictive control. Electronics 8(10), 1077 (2019) Conceição et al. [2007] Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019)
- Lee, K., Im, D.-Y., Kwak, B., Ryoo, Y.-J., et al.: Design of fuzzy-pid controller for path tracking of mobile robot with differential drive. International Journal of Fuzzy Logic and Intelligent Systems 18(3), 220–228 (2018) Jiang and Jiang [2012] Jiang, W., Jiang, X.: Design of an intelligent temperature control system based on the fuzzy self-tuning pid. Procedia Engineering 43, 307–311 (2012) Bansal and Narvey [2013] Bansal, U.K., Narvey, R.: Speed control of dc motor using fuzzy pid controller. Advance in Electronic and Electric Engineering 3(9), 1209–1220 (2013) Chao et al. [2019] Chao, C.-T., Sutarna, N., Chiou, J.-S., Wang, C.-J.: An optimal fuzzy pid controller design based on conventional pid control and nonlinear factors. Applied Sciences 9(6), 1224 (2019) Nour et al. [2007] Nour, M., Ooi, J., Chan, K.: Fuzzy logic control vs. conventional pid control of an inverted pendulum robot. In: 2007 International Conference on Intelligent and Advanced Systems, pp. 209–214 (2007). IEEE Alouache and Wu [2018] Alouache, A., Wu, Q.: Fuzzy logic pd controller for trajectory tracking of an autonomous differential drive mobile robot (ie quanser qbot). Industrial Robot: An International Journal 45(1), 23–33 (2018) Hashemi et al. [2011] Hashemi, E., Jadidi, M.G., Jadidi, N.G.: Model-based pi–fuzzy control of four-wheeled omni-directional mobile robots. Robotics and Autonomous Systems 59(11), 930–942 (2011) Abiyev et al. [2017] Abiyev, R.H., Günsel, I.S., Akkaya, N., Aytac, E., Çağman, A., Abizada, S.: Fuzzy control of omnidirectional robot. Procedia Computer Science 120, 608–616 (2017) Vu et al. [2021] Vu, T.M., Moezzi, R., Cyrus, J., Hlava, J.: Model predictive control for autonomous driving vehicles. Electronics 10(21), 2593 (2021) Maurović et al. [2011] Maurović, I., Baotić, M., Petrović, I.: Explicit model predictive control for trajectory tracking with mobile robots. In: 2011 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), pp. 712–717 (2011). IEEE Liu et al. [2022] Liu, X., Wang, W., Li, X., Liu, F., He, Z., Yao, Y., Ruan, H., Zhang, T.: Mpc-based high-speed trajectory tracking for 4wis robot. ISA transactions 123, 413–424 (2022) Kanjanawanishkul and Zell [2009] Kanjanawanishkul, K., Zell, A.: Path following for an omnidirectional mobile robot based on model predictive control. In: 2009 IEEE International Conference on Robotics and Automation, pp. 3341–3346 (2009). IEEE Yang et al. [2018] Yang, H., Guo, M., Xia, Y., Cheng, L.: Trajectory tracking for wheeled mobile robots via model predictive control with softening constraints. IET Control Theory & Applications 12(2), 206–214 (2018) Nascimento et al. [2018] Nascimento, T.P., Dórea, C.E.T., Gonçalves, L.M.G.: Nonlinear model predictive control for trajectory tracking of nonholonomic mobile robots: A modified approach. International Journal of Advanced Robotic Systems 15(1), 1729881418760461 (2018) Pacheco and Luo [2015] Pacheco, L., Luo, N.: Testing pid and mpc performance for mobile robot local path-following. International Journal of Advanced Robotic Systems 12(11), 155 (2015) Mayne [2014] Mayne, D.Q.: Model predictive control: Recent developments and future promise. Automatica 50(12), 2967–2986 (2014) Bai et al. [2019] Bai, G., Meng, Y., Liu, L., Luo, W., Gu, Q., Liu, L.: Review and comparison of path tracking based on model predictive control. Electronics 8(10), 1077 (2019) Conceição et al. [2007] Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Jiang, W., Jiang, X.: Design of an intelligent temperature control system based on the fuzzy self-tuning pid. Procedia Engineering 43, 307–311 (2012) Bansal and Narvey [2013] Bansal, U.K., Narvey, R.: Speed control of dc motor using fuzzy pid controller. Advance in Electronic and Electric Engineering 3(9), 1209–1220 (2013) Chao et al. [2019] Chao, C.-T., Sutarna, N., Chiou, J.-S., Wang, C.-J.: An optimal fuzzy pid controller design based on conventional pid control and nonlinear factors. Applied Sciences 9(6), 1224 (2019) Nour et al. [2007] Nour, M., Ooi, J., Chan, K.: Fuzzy logic control vs. conventional pid control of an inverted pendulum robot. In: 2007 International Conference on Intelligent and Advanced Systems, pp. 209–214 (2007). IEEE Alouache and Wu [2018] Alouache, A., Wu, Q.: Fuzzy logic pd controller for trajectory tracking of an autonomous differential drive mobile robot (ie quanser qbot). Industrial Robot: An International Journal 45(1), 23–33 (2018) Hashemi et al. [2011] Hashemi, E., Jadidi, M.G., Jadidi, N.G.: Model-based pi–fuzzy control of four-wheeled omni-directional mobile robots. Robotics and Autonomous Systems 59(11), 930–942 (2011) Abiyev et al. [2017] Abiyev, R.H., Günsel, I.S., Akkaya, N., Aytac, E., Çağman, A., Abizada, S.: Fuzzy control of omnidirectional robot. Procedia Computer Science 120, 608–616 (2017) Vu et al. [2021] Vu, T.M., Moezzi, R., Cyrus, J., Hlava, J.: Model predictive control for autonomous driving vehicles. Electronics 10(21), 2593 (2021) Maurović et al. [2011] Maurović, I., Baotić, M., Petrović, I.: Explicit model predictive control for trajectory tracking with mobile robots. In: 2011 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), pp. 712–717 (2011). IEEE Liu et al. [2022] Liu, X., Wang, W., Li, X., Liu, F., He, Z., Yao, Y., Ruan, H., Zhang, T.: Mpc-based high-speed trajectory tracking for 4wis robot. ISA transactions 123, 413–424 (2022) Kanjanawanishkul and Zell [2009] Kanjanawanishkul, K., Zell, A.: Path following for an omnidirectional mobile robot based on model predictive control. In: 2009 IEEE International Conference on Robotics and Automation, pp. 3341–3346 (2009). IEEE Yang et al. [2018] Yang, H., Guo, M., Xia, Y., Cheng, L.: Trajectory tracking for wheeled mobile robots via model predictive control with softening constraints. IET Control Theory & Applications 12(2), 206–214 (2018) Nascimento et al. [2018] Nascimento, T.P., Dórea, C.E.T., Gonçalves, L.M.G.: Nonlinear model predictive control for trajectory tracking of nonholonomic mobile robots: A modified approach. International Journal of Advanced Robotic Systems 15(1), 1729881418760461 (2018) Pacheco and Luo [2015] Pacheco, L., Luo, N.: Testing pid and mpc performance for mobile robot local path-following. International Journal of Advanced Robotic Systems 12(11), 155 (2015) Mayne [2014] Mayne, D.Q.: Model predictive control: Recent developments and future promise. Automatica 50(12), 2967–2986 (2014) Bai et al. [2019] Bai, G., Meng, Y., Liu, L., Luo, W., Gu, Q., Liu, L.: Review and comparison of path tracking based on model predictive control. Electronics 8(10), 1077 (2019) Conceição et al. [2007] Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Bansal, U.K., Narvey, R.: Speed control of dc motor using fuzzy pid controller. Advance in Electronic and Electric Engineering 3(9), 1209–1220 (2013) Chao et al. [2019] Chao, C.-T., Sutarna, N., Chiou, J.-S., Wang, C.-J.: An optimal fuzzy pid controller design based on conventional pid control and nonlinear factors. Applied Sciences 9(6), 1224 (2019) Nour et al. [2007] Nour, M., Ooi, J., Chan, K.: Fuzzy logic control vs. conventional pid control of an inverted pendulum robot. In: 2007 International Conference on Intelligent and Advanced Systems, pp. 209–214 (2007). IEEE Alouache and Wu [2018] Alouache, A., Wu, Q.: Fuzzy logic pd controller for trajectory tracking of an autonomous differential drive mobile robot (ie quanser qbot). Industrial Robot: An International Journal 45(1), 23–33 (2018) Hashemi et al. [2011] Hashemi, E., Jadidi, M.G., Jadidi, N.G.: Model-based pi–fuzzy control of four-wheeled omni-directional mobile robots. Robotics and Autonomous Systems 59(11), 930–942 (2011) Abiyev et al. [2017] Abiyev, R.H., Günsel, I.S., Akkaya, N., Aytac, E., Çağman, A., Abizada, S.: Fuzzy control of omnidirectional robot. Procedia Computer Science 120, 608–616 (2017) Vu et al. [2021] Vu, T.M., Moezzi, R., Cyrus, J., Hlava, J.: Model predictive control for autonomous driving vehicles. Electronics 10(21), 2593 (2021) Maurović et al. [2011] Maurović, I., Baotić, M., Petrović, I.: Explicit model predictive control for trajectory tracking with mobile robots. In: 2011 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), pp. 712–717 (2011). IEEE Liu et al. [2022] Liu, X., Wang, W., Li, X., Liu, F., He, Z., Yao, Y., Ruan, H., Zhang, T.: Mpc-based high-speed trajectory tracking for 4wis robot. ISA transactions 123, 413–424 (2022) Kanjanawanishkul and Zell [2009] Kanjanawanishkul, K., Zell, A.: Path following for an omnidirectional mobile robot based on model predictive control. In: 2009 IEEE International Conference on Robotics and Automation, pp. 3341–3346 (2009). IEEE Yang et al. [2018] Yang, H., Guo, M., Xia, Y., Cheng, L.: Trajectory tracking for wheeled mobile robots via model predictive control with softening constraints. IET Control Theory & Applications 12(2), 206–214 (2018) Nascimento et al. [2018] Nascimento, T.P., Dórea, C.E.T., Gonçalves, L.M.G.: Nonlinear model predictive control for trajectory tracking of nonholonomic mobile robots: A modified approach. International Journal of Advanced Robotic Systems 15(1), 1729881418760461 (2018) Pacheco and Luo [2015] Pacheco, L., Luo, N.: Testing pid and mpc performance for mobile robot local path-following. International Journal of Advanced Robotic Systems 12(11), 155 (2015) Mayne [2014] Mayne, D.Q.: Model predictive control: Recent developments and future promise. Automatica 50(12), 2967–2986 (2014) Bai et al. [2019] Bai, G., Meng, Y., Liu, L., Luo, W., Gu, Q., Liu, L.: Review and comparison of path tracking based on model predictive control. Electronics 8(10), 1077 (2019) Conceição et al. [2007] Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Chao, C.-T., Sutarna, N., Chiou, J.-S., Wang, C.-J.: An optimal fuzzy pid controller design based on conventional pid control and nonlinear factors. Applied Sciences 9(6), 1224 (2019) Nour et al. [2007] Nour, M., Ooi, J., Chan, K.: Fuzzy logic control vs. conventional pid control of an inverted pendulum robot. In: 2007 International Conference on Intelligent and Advanced Systems, pp. 209–214 (2007). IEEE Alouache and Wu [2018] Alouache, A., Wu, Q.: Fuzzy logic pd controller for trajectory tracking of an autonomous differential drive mobile robot (ie quanser qbot). Industrial Robot: An International Journal 45(1), 23–33 (2018) Hashemi et al. [2011] Hashemi, E., Jadidi, M.G., Jadidi, N.G.: Model-based pi–fuzzy control of four-wheeled omni-directional mobile robots. Robotics and Autonomous Systems 59(11), 930–942 (2011) Abiyev et al. [2017] Abiyev, R.H., Günsel, I.S., Akkaya, N., Aytac, E., Çağman, A., Abizada, S.: Fuzzy control of omnidirectional robot. Procedia Computer Science 120, 608–616 (2017) Vu et al. [2021] Vu, T.M., Moezzi, R., Cyrus, J., Hlava, J.: Model predictive control for autonomous driving vehicles. Electronics 10(21), 2593 (2021) Maurović et al. [2011] Maurović, I., Baotić, M., Petrović, I.: Explicit model predictive control for trajectory tracking with mobile robots. In: 2011 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), pp. 712–717 (2011). IEEE Liu et al. [2022] Liu, X., Wang, W., Li, X., Liu, F., He, Z., Yao, Y., Ruan, H., Zhang, T.: Mpc-based high-speed trajectory tracking for 4wis robot. ISA transactions 123, 413–424 (2022) Kanjanawanishkul and Zell [2009] Kanjanawanishkul, K., Zell, A.: Path following for an omnidirectional mobile robot based on model predictive control. In: 2009 IEEE International Conference on Robotics and Automation, pp. 3341–3346 (2009). IEEE Yang et al. [2018] Yang, H., Guo, M., Xia, Y., Cheng, L.: Trajectory tracking for wheeled mobile robots via model predictive control with softening constraints. IET Control Theory & Applications 12(2), 206–214 (2018) Nascimento et al. [2018] Nascimento, T.P., Dórea, C.E.T., Gonçalves, L.M.G.: Nonlinear model predictive control for trajectory tracking of nonholonomic mobile robots: A modified approach. International Journal of Advanced Robotic Systems 15(1), 1729881418760461 (2018) Pacheco and Luo [2015] Pacheco, L., Luo, N.: Testing pid and mpc performance for mobile robot local path-following. International Journal of Advanced Robotic Systems 12(11), 155 (2015) Mayne [2014] Mayne, D.Q.: Model predictive control: Recent developments and future promise. Automatica 50(12), 2967–2986 (2014) Bai et al. [2019] Bai, G., Meng, Y., Liu, L., Luo, W., Gu, Q., Liu, L.: Review and comparison of path tracking based on model predictive control. Electronics 8(10), 1077 (2019) Conceição et al. [2007] Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Nour, M., Ooi, J., Chan, K.: Fuzzy logic control vs. conventional pid control of an inverted pendulum robot. In: 2007 International Conference on Intelligent and Advanced Systems, pp. 209–214 (2007). IEEE Alouache and Wu [2018] Alouache, A., Wu, Q.: Fuzzy logic pd controller for trajectory tracking of an autonomous differential drive mobile robot (ie quanser qbot). Industrial Robot: An International Journal 45(1), 23–33 (2018) Hashemi et al. [2011] Hashemi, E., Jadidi, M.G., Jadidi, N.G.: Model-based pi–fuzzy control of four-wheeled omni-directional mobile robots. Robotics and Autonomous Systems 59(11), 930–942 (2011) Abiyev et al. [2017] Abiyev, R.H., Günsel, I.S., Akkaya, N., Aytac, E., Çağman, A., Abizada, S.: Fuzzy control of omnidirectional robot. Procedia Computer Science 120, 608–616 (2017) Vu et al. [2021] Vu, T.M., Moezzi, R., Cyrus, J., Hlava, J.: Model predictive control for autonomous driving vehicles. Electronics 10(21), 2593 (2021) Maurović et al. [2011] Maurović, I., Baotić, M., Petrović, I.: Explicit model predictive control for trajectory tracking with mobile robots. In: 2011 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), pp. 712–717 (2011). IEEE Liu et al. [2022] Liu, X., Wang, W., Li, X., Liu, F., He, Z., Yao, Y., Ruan, H., Zhang, T.: Mpc-based high-speed trajectory tracking for 4wis robot. ISA transactions 123, 413–424 (2022) Kanjanawanishkul and Zell [2009] Kanjanawanishkul, K., Zell, A.: Path following for an omnidirectional mobile robot based on model predictive control. In: 2009 IEEE International Conference on Robotics and Automation, pp. 3341–3346 (2009). IEEE Yang et al. [2018] Yang, H., Guo, M., Xia, Y., Cheng, L.: Trajectory tracking for wheeled mobile robots via model predictive control with softening constraints. IET Control Theory & Applications 12(2), 206–214 (2018) Nascimento et al. [2018] Nascimento, T.P., Dórea, C.E.T., Gonçalves, L.M.G.: Nonlinear model predictive control for trajectory tracking of nonholonomic mobile robots: A modified approach. International Journal of Advanced Robotic Systems 15(1), 1729881418760461 (2018) Pacheco and Luo [2015] Pacheco, L., Luo, N.: Testing pid and mpc performance for mobile robot local path-following. International Journal of Advanced Robotic Systems 12(11), 155 (2015) Mayne [2014] Mayne, D.Q.: Model predictive control: Recent developments and future promise. Automatica 50(12), 2967–2986 (2014) Bai et al. [2019] Bai, G., Meng, Y., Liu, L., Luo, W., Gu, Q., Liu, L.: Review and comparison of path tracking based on model predictive control. Electronics 8(10), 1077 (2019) Conceição et al. [2007] Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Alouache, A., Wu, Q.: Fuzzy logic pd controller for trajectory tracking of an autonomous differential drive mobile robot (ie quanser qbot). Industrial Robot: An International Journal 45(1), 23–33 (2018) Hashemi et al. [2011] Hashemi, E., Jadidi, M.G., Jadidi, N.G.: Model-based pi–fuzzy control of four-wheeled omni-directional mobile robots. Robotics and Autonomous Systems 59(11), 930–942 (2011) Abiyev et al. [2017] Abiyev, R.H., Günsel, I.S., Akkaya, N., Aytac, E., Çağman, A., Abizada, S.: Fuzzy control of omnidirectional robot. Procedia Computer Science 120, 608–616 (2017) Vu et al. [2021] Vu, T.M., Moezzi, R., Cyrus, J., Hlava, J.: Model predictive control for autonomous driving vehicles. Electronics 10(21), 2593 (2021) Maurović et al. [2011] Maurović, I., Baotić, M., Petrović, I.: Explicit model predictive control for trajectory tracking with mobile robots. In: 2011 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), pp. 712–717 (2011). IEEE Liu et al. [2022] Liu, X., Wang, W., Li, X., Liu, F., He, Z., Yao, Y., Ruan, H., Zhang, T.: Mpc-based high-speed trajectory tracking for 4wis robot. ISA transactions 123, 413–424 (2022) Kanjanawanishkul and Zell [2009] Kanjanawanishkul, K., Zell, A.: Path following for an omnidirectional mobile robot based on model predictive control. In: 2009 IEEE International Conference on Robotics and Automation, pp. 3341–3346 (2009). IEEE Yang et al. [2018] Yang, H., Guo, M., Xia, Y., Cheng, L.: Trajectory tracking for wheeled mobile robots via model predictive control with softening constraints. IET Control Theory & Applications 12(2), 206–214 (2018) Nascimento et al. [2018] Nascimento, T.P., Dórea, C.E.T., Gonçalves, L.M.G.: Nonlinear model predictive control for trajectory tracking of nonholonomic mobile robots: A modified approach. International Journal of Advanced Robotic Systems 15(1), 1729881418760461 (2018) Pacheco and Luo [2015] Pacheco, L., Luo, N.: Testing pid and mpc performance for mobile robot local path-following. International Journal of Advanced Robotic Systems 12(11), 155 (2015) Mayne [2014] Mayne, D.Q.: Model predictive control: Recent developments and future promise. Automatica 50(12), 2967–2986 (2014) Bai et al. [2019] Bai, G., Meng, Y., Liu, L., Luo, W., Gu, Q., Liu, L.: Review and comparison of path tracking based on model predictive control. Electronics 8(10), 1077 (2019) Conceição et al. [2007] Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Hashemi, E., Jadidi, M.G., Jadidi, N.G.: Model-based pi–fuzzy control of four-wheeled omni-directional mobile robots. Robotics and Autonomous Systems 59(11), 930–942 (2011) Abiyev et al. [2017] Abiyev, R.H., Günsel, I.S., Akkaya, N., Aytac, E., Çağman, A., Abizada, S.: Fuzzy control of omnidirectional robot. Procedia Computer Science 120, 608–616 (2017) Vu et al. [2021] Vu, T.M., Moezzi, R., Cyrus, J., Hlava, J.: Model predictive control for autonomous driving vehicles. Electronics 10(21), 2593 (2021) Maurović et al. [2011] Maurović, I., Baotić, M., Petrović, I.: Explicit model predictive control for trajectory tracking with mobile robots. In: 2011 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), pp. 712–717 (2011). IEEE Liu et al. [2022] Liu, X., Wang, W., Li, X., Liu, F., He, Z., Yao, Y., Ruan, H., Zhang, T.: Mpc-based high-speed trajectory tracking for 4wis robot. ISA transactions 123, 413–424 (2022) Kanjanawanishkul and Zell [2009] Kanjanawanishkul, K., Zell, A.: Path following for an omnidirectional mobile robot based on model predictive control. In: 2009 IEEE International Conference on Robotics and Automation, pp. 3341–3346 (2009). IEEE Yang et al. [2018] Yang, H., Guo, M., Xia, Y., Cheng, L.: Trajectory tracking for wheeled mobile robots via model predictive control with softening constraints. IET Control Theory & Applications 12(2), 206–214 (2018) Nascimento et al. [2018] Nascimento, T.P., Dórea, C.E.T., Gonçalves, L.M.G.: Nonlinear model predictive control for trajectory tracking of nonholonomic mobile robots: A modified approach. International Journal of Advanced Robotic Systems 15(1), 1729881418760461 (2018) Pacheco and Luo [2015] Pacheco, L., Luo, N.: Testing pid and mpc performance for mobile robot local path-following. International Journal of Advanced Robotic Systems 12(11), 155 (2015) Mayne [2014] Mayne, D.Q.: Model predictive control: Recent developments and future promise. Automatica 50(12), 2967–2986 (2014) Bai et al. [2019] Bai, G., Meng, Y., Liu, L., Luo, W., Gu, Q., Liu, L.: Review and comparison of path tracking based on model predictive control. Electronics 8(10), 1077 (2019) Conceição et al. [2007] Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Abiyev, R.H., Günsel, I.S., Akkaya, N., Aytac, E., Çağman, A., Abizada, S.: Fuzzy control of omnidirectional robot. Procedia Computer Science 120, 608–616 (2017) Vu et al. [2021] Vu, T.M., Moezzi, R., Cyrus, J., Hlava, J.: Model predictive control for autonomous driving vehicles. Electronics 10(21), 2593 (2021) Maurović et al. [2011] Maurović, I., Baotić, M., Petrović, I.: Explicit model predictive control for trajectory tracking with mobile robots. In: 2011 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), pp. 712–717 (2011). IEEE Liu et al. [2022] Liu, X., Wang, W., Li, X., Liu, F., He, Z., Yao, Y., Ruan, H., Zhang, T.: Mpc-based high-speed trajectory tracking for 4wis robot. ISA transactions 123, 413–424 (2022) Kanjanawanishkul and Zell [2009] Kanjanawanishkul, K., Zell, A.: Path following for an omnidirectional mobile robot based on model predictive control. In: 2009 IEEE International Conference on Robotics and Automation, pp. 3341–3346 (2009). IEEE Yang et al. [2018] Yang, H., Guo, M., Xia, Y., Cheng, L.: Trajectory tracking for wheeled mobile robots via model predictive control with softening constraints. IET Control Theory & Applications 12(2), 206–214 (2018) Nascimento et al. [2018] Nascimento, T.P., Dórea, C.E.T., Gonçalves, L.M.G.: Nonlinear model predictive control for trajectory tracking of nonholonomic mobile robots: A modified approach. International Journal of Advanced Robotic Systems 15(1), 1729881418760461 (2018) Pacheco and Luo [2015] Pacheco, L., Luo, N.: Testing pid and mpc performance for mobile robot local path-following. International Journal of Advanced Robotic Systems 12(11), 155 (2015) Mayne [2014] Mayne, D.Q.: Model predictive control: Recent developments and future promise. Automatica 50(12), 2967–2986 (2014) Bai et al. [2019] Bai, G., Meng, Y., Liu, L., Luo, W., Gu, Q., Liu, L.: Review and comparison of path tracking based on model predictive control. Electronics 8(10), 1077 (2019) Conceição et al. [2007] Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Vu, T.M., Moezzi, R., Cyrus, J., Hlava, J.: Model predictive control for autonomous driving vehicles. Electronics 10(21), 2593 (2021) Maurović et al. [2011] Maurović, I., Baotić, M., Petrović, I.: Explicit model predictive control for trajectory tracking with mobile robots. In: 2011 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), pp. 712–717 (2011). IEEE Liu et al. [2022] Liu, X., Wang, W., Li, X., Liu, F., He, Z., Yao, Y., Ruan, H., Zhang, T.: Mpc-based high-speed trajectory tracking for 4wis robot. ISA transactions 123, 413–424 (2022) Kanjanawanishkul and Zell [2009] Kanjanawanishkul, K., Zell, A.: Path following for an omnidirectional mobile robot based on model predictive control. In: 2009 IEEE International Conference on Robotics and Automation, pp. 3341–3346 (2009). IEEE Yang et al. [2018] Yang, H., Guo, M., Xia, Y., Cheng, L.: Trajectory tracking for wheeled mobile robots via model predictive control with softening constraints. IET Control Theory & Applications 12(2), 206–214 (2018) Nascimento et al. [2018] Nascimento, T.P., Dórea, C.E.T., Gonçalves, L.M.G.: Nonlinear model predictive control for trajectory tracking of nonholonomic mobile robots: A modified approach. International Journal of Advanced Robotic Systems 15(1), 1729881418760461 (2018) Pacheco and Luo [2015] Pacheco, L., Luo, N.: Testing pid and mpc performance for mobile robot local path-following. International Journal of Advanced Robotic Systems 12(11), 155 (2015) Mayne [2014] Mayne, D.Q.: Model predictive control: Recent developments and future promise. Automatica 50(12), 2967–2986 (2014) Bai et al. [2019] Bai, G., Meng, Y., Liu, L., Luo, W., Gu, Q., Liu, L.: Review and comparison of path tracking based on model predictive control. Electronics 8(10), 1077 (2019) Conceição et al. [2007] Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Maurović, I., Baotić, M., Petrović, I.: Explicit model predictive control for trajectory tracking with mobile robots. In: 2011 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), pp. 712–717 (2011). IEEE Liu et al. [2022] Liu, X., Wang, W., Li, X., Liu, F., He, Z., Yao, Y., Ruan, H., Zhang, T.: Mpc-based high-speed trajectory tracking for 4wis robot. ISA transactions 123, 413–424 (2022) Kanjanawanishkul and Zell [2009] Kanjanawanishkul, K., Zell, A.: Path following for an omnidirectional mobile robot based on model predictive control. In: 2009 IEEE International Conference on Robotics and Automation, pp. 3341–3346 (2009). IEEE Yang et al. [2018] Yang, H., Guo, M., Xia, Y., Cheng, L.: Trajectory tracking for wheeled mobile robots via model predictive control with softening constraints. IET Control Theory & Applications 12(2), 206–214 (2018) Nascimento et al. [2018] Nascimento, T.P., Dórea, C.E.T., Gonçalves, L.M.G.: Nonlinear model predictive control for trajectory tracking of nonholonomic mobile robots: A modified approach. International Journal of Advanced Robotic Systems 15(1), 1729881418760461 (2018) Pacheco and Luo [2015] Pacheco, L., Luo, N.: Testing pid and mpc performance for mobile robot local path-following. International Journal of Advanced Robotic Systems 12(11), 155 (2015) Mayne [2014] Mayne, D.Q.: Model predictive control: Recent developments and future promise. Automatica 50(12), 2967–2986 (2014) Bai et al. [2019] Bai, G., Meng, Y., Liu, L., Luo, W., Gu, Q., Liu, L.: Review and comparison of path tracking based on model predictive control. Electronics 8(10), 1077 (2019) Conceição et al. [2007] Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Liu, X., Wang, W., Li, X., Liu, F., He, Z., Yao, Y., Ruan, H., Zhang, T.: Mpc-based high-speed trajectory tracking for 4wis robot. ISA transactions 123, 413–424 (2022) Kanjanawanishkul and Zell [2009] Kanjanawanishkul, K., Zell, A.: Path following for an omnidirectional mobile robot based on model predictive control. In: 2009 IEEE International Conference on Robotics and Automation, pp. 3341–3346 (2009). IEEE Yang et al. [2018] Yang, H., Guo, M., Xia, Y., Cheng, L.: Trajectory tracking for wheeled mobile robots via model predictive control with softening constraints. IET Control Theory & Applications 12(2), 206–214 (2018) Nascimento et al. [2018] Nascimento, T.P., Dórea, C.E.T., Gonçalves, L.M.G.: Nonlinear model predictive control for trajectory tracking of nonholonomic mobile robots: A modified approach. International Journal of Advanced Robotic Systems 15(1), 1729881418760461 (2018) Pacheco and Luo [2015] Pacheco, L., Luo, N.: Testing pid and mpc performance for mobile robot local path-following. International Journal of Advanced Robotic Systems 12(11), 155 (2015) Mayne [2014] Mayne, D.Q.: Model predictive control: Recent developments and future promise. Automatica 50(12), 2967–2986 (2014) Bai et al. [2019] Bai, G., Meng, Y., Liu, L., Luo, W., Gu, Q., Liu, L.: Review and comparison of path tracking based on model predictive control. Electronics 8(10), 1077 (2019) Conceição et al. [2007] Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Kanjanawanishkul, K., Zell, A.: Path following for an omnidirectional mobile robot based on model predictive control. In: 2009 IEEE International Conference on Robotics and Automation, pp. 3341–3346 (2009). IEEE Yang et al. [2018] Yang, H., Guo, M., Xia, Y., Cheng, L.: Trajectory tracking for wheeled mobile robots via model predictive control with softening constraints. IET Control Theory & Applications 12(2), 206–214 (2018) Nascimento et al. [2018] Nascimento, T.P., Dórea, C.E.T., Gonçalves, L.M.G.: Nonlinear model predictive control for trajectory tracking of nonholonomic mobile robots: A modified approach. International Journal of Advanced Robotic Systems 15(1), 1729881418760461 (2018) Pacheco and Luo [2015] Pacheco, L., Luo, N.: Testing pid and mpc performance for mobile robot local path-following. International Journal of Advanced Robotic Systems 12(11), 155 (2015) Mayne [2014] Mayne, D.Q.: Model predictive control: Recent developments and future promise. Automatica 50(12), 2967–2986 (2014) Bai et al. [2019] Bai, G., Meng, Y., Liu, L., Luo, W., Gu, Q., Liu, L.: Review and comparison of path tracking based on model predictive control. Electronics 8(10), 1077 (2019) Conceição et al. [2007] Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Yang, H., Guo, M., Xia, Y., Cheng, L.: Trajectory tracking for wheeled mobile robots via model predictive control with softening constraints. IET Control Theory & Applications 12(2), 206–214 (2018) Nascimento et al. [2018] Nascimento, T.P., Dórea, C.E.T., Gonçalves, L.M.G.: Nonlinear model predictive control for trajectory tracking of nonholonomic mobile robots: A modified approach. International Journal of Advanced Robotic Systems 15(1), 1729881418760461 (2018) Pacheco and Luo [2015] Pacheco, L., Luo, N.: Testing pid and mpc performance for mobile robot local path-following. International Journal of Advanced Robotic Systems 12(11), 155 (2015) Mayne [2014] Mayne, D.Q.: Model predictive control: Recent developments and future promise. Automatica 50(12), 2967–2986 (2014) Bai et al. [2019] Bai, G., Meng, Y., Liu, L., Luo, W., Gu, Q., Liu, L.: Review and comparison of path tracking based on model predictive control. Electronics 8(10), 1077 (2019) Conceição et al. [2007] Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Nascimento, T.P., Dórea, C.E.T., Gonçalves, L.M.G.: Nonlinear model predictive control for trajectory tracking of nonholonomic mobile robots: A modified approach. International Journal of Advanced Robotic Systems 15(1), 1729881418760461 (2018) Pacheco and Luo [2015] Pacheco, L., Luo, N.: Testing pid and mpc performance for mobile robot local path-following. International Journal of Advanced Robotic Systems 12(11), 155 (2015) Mayne [2014] Mayne, D.Q.: Model predictive control: Recent developments and future promise. Automatica 50(12), 2967–2986 (2014) Bai et al. [2019] Bai, G., Meng, Y., Liu, L., Luo, W., Gu, Q., Liu, L.: Review and comparison of path tracking based on model predictive control. Electronics 8(10), 1077 (2019) Conceição et al. [2007] Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Pacheco, L., Luo, N.: Testing pid and mpc performance for mobile robot local path-following. International Journal of Advanced Robotic Systems 12(11), 155 (2015) Mayne [2014] Mayne, D.Q.: Model predictive control: Recent developments and future promise. Automatica 50(12), 2967–2986 (2014) Bai et al. [2019] Bai, G., Meng, Y., Liu, L., Luo, W., Gu, Q., Liu, L.: Review and comparison of path tracking based on model predictive control. Electronics 8(10), 1077 (2019) Conceição et al. [2007] Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Mayne, D.Q.: Model predictive control: Recent developments and future promise. Automatica 50(12), 2967–2986 (2014) Bai et al. [2019] Bai, G., Meng, Y., Liu, L., Luo, W., Gu, Q., Liu, L.: Review and comparison of path tracking based on model predictive control. Electronics 8(10), 1077 (2019) Conceição et al. [2007] Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Bai, G., Meng, Y., Liu, L., Luo, W., Gu, Q., Liu, L.: Review and comparison of path tracking based on model predictive control. Electronics 8(10), 1077 (2019) Conceição et al. [2007] Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019)
- Jiang, W., Jiang, X.: Design of an intelligent temperature control system based on the fuzzy self-tuning pid. Procedia Engineering 43, 307–311 (2012) Bansal and Narvey [2013] Bansal, U.K., Narvey, R.: Speed control of dc motor using fuzzy pid controller. Advance in Electronic and Electric Engineering 3(9), 1209–1220 (2013) Chao et al. [2019] Chao, C.-T., Sutarna, N., Chiou, J.-S., Wang, C.-J.: An optimal fuzzy pid controller design based on conventional pid control and nonlinear factors. Applied Sciences 9(6), 1224 (2019) Nour et al. [2007] Nour, M., Ooi, J., Chan, K.: Fuzzy logic control vs. conventional pid control of an inverted pendulum robot. In: 2007 International Conference on Intelligent and Advanced Systems, pp. 209–214 (2007). IEEE Alouache and Wu [2018] Alouache, A., Wu, Q.: Fuzzy logic pd controller for trajectory tracking of an autonomous differential drive mobile robot (ie quanser qbot). Industrial Robot: An International Journal 45(1), 23–33 (2018) Hashemi et al. [2011] Hashemi, E., Jadidi, M.G., Jadidi, N.G.: Model-based pi–fuzzy control of four-wheeled omni-directional mobile robots. Robotics and Autonomous Systems 59(11), 930–942 (2011) Abiyev et al. [2017] Abiyev, R.H., Günsel, I.S., Akkaya, N., Aytac, E., Çağman, A., Abizada, S.: Fuzzy control of omnidirectional robot. Procedia Computer Science 120, 608–616 (2017) Vu et al. [2021] Vu, T.M., Moezzi, R., Cyrus, J., Hlava, J.: Model predictive control for autonomous driving vehicles. Electronics 10(21), 2593 (2021) Maurović et al. [2011] Maurović, I., Baotić, M., Petrović, I.: Explicit model predictive control for trajectory tracking with mobile robots. In: 2011 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), pp. 712–717 (2011). IEEE Liu et al. [2022] Liu, X., Wang, W., Li, X., Liu, F., He, Z., Yao, Y., Ruan, H., Zhang, T.: Mpc-based high-speed trajectory tracking for 4wis robot. ISA transactions 123, 413–424 (2022) Kanjanawanishkul and Zell [2009] Kanjanawanishkul, K., Zell, A.: Path following for an omnidirectional mobile robot based on model predictive control. In: 2009 IEEE International Conference on Robotics and Automation, pp. 3341–3346 (2009). IEEE Yang et al. [2018] Yang, H., Guo, M., Xia, Y., Cheng, L.: Trajectory tracking for wheeled mobile robots via model predictive control with softening constraints. IET Control Theory & Applications 12(2), 206–214 (2018) Nascimento et al. [2018] Nascimento, T.P., Dórea, C.E.T., Gonçalves, L.M.G.: Nonlinear model predictive control for trajectory tracking of nonholonomic mobile robots: A modified approach. International Journal of Advanced Robotic Systems 15(1), 1729881418760461 (2018) Pacheco and Luo [2015] Pacheco, L., Luo, N.: Testing pid and mpc performance for mobile robot local path-following. International Journal of Advanced Robotic Systems 12(11), 155 (2015) Mayne [2014] Mayne, D.Q.: Model predictive control: Recent developments and future promise. Automatica 50(12), 2967–2986 (2014) Bai et al. [2019] Bai, G., Meng, Y., Liu, L., Luo, W., Gu, Q., Liu, L.: Review and comparison of path tracking based on model predictive control. Electronics 8(10), 1077 (2019) Conceição et al. [2007] Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Bansal, U.K., Narvey, R.: Speed control of dc motor using fuzzy pid controller. Advance in Electronic and Electric Engineering 3(9), 1209–1220 (2013) Chao et al. [2019] Chao, C.-T., Sutarna, N., Chiou, J.-S., Wang, C.-J.: An optimal fuzzy pid controller design based on conventional pid control and nonlinear factors. Applied Sciences 9(6), 1224 (2019) Nour et al. [2007] Nour, M., Ooi, J., Chan, K.: Fuzzy logic control vs. conventional pid control of an inverted pendulum robot. In: 2007 International Conference on Intelligent and Advanced Systems, pp. 209–214 (2007). IEEE Alouache and Wu [2018] Alouache, A., Wu, Q.: Fuzzy logic pd controller for trajectory tracking of an autonomous differential drive mobile robot (ie quanser qbot). Industrial Robot: An International Journal 45(1), 23–33 (2018) Hashemi et al. [2011] Hashemi, E., Jadidi, M.G., Jadidi, N.G.: Model-based pi–fuzzy control of four-wheeled omni-directional mobile robots. Robotics and Autonomous Systems 59(11), 930–942 (2011) Abiyev et al. [2017] Abiyev, R.H., Günsel, I.S., Akkaya, N., Aytac, E., Çağman, A., Abizada, S.: Fuzzy control of omnidirectional robot. Procedia Computer Science 120, 608–616 (2017) Vu et al. [2021] Vu, T.M., Moezzi, R., Cyrus, J., Hlava, J.: Model predictive control for autonomous driving vehicles. Electronics 10(21), 2593 (2021) Maurović et al. [2011] Maurović, I., Baotić, M., Petrović, I.: Explicit model predictive control for trajectory tracking with mobile robots. In: 2011 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), pp. 712–717 (2011). IEEE Liu et al. [2022] Liu, X., Wang, W., Li, X., Liu, F., He, Z., Yao, Y., Ruan, H., Zhang, T.: Mpc-based high-speed trajectory tracking for 4wis robot. ISA transactions 123, 413–424 (2022) Kanjanawanishkul and Zell [2009] Kanjanawanishkul, K., Zell, A.: Path following for an omnidirectional mobile robot based on model predictive control. In: 2009 IEEE International Conference on Robotics and Automation, pp. 3341–3346 (2009). IEEE Yang et al. [2018] Yang, H., Guo, M., Xia, Y., Cheng, L.: Trajectory tracking for wheeled mobile robots via model predictive control with softening constraints. IET Control Theory & Applications 12(2), 206–214 (2018) Nascimento et al. [2018] Nascimento, T.P., Dórea, C.E.T., Gonçalves, L.M.G.: Nonlinear model predictive control for trajectory tracking of nonholonomic mobile robots: A modified approach. International Journal of Advanced Robotic Systems 15(1), 1729881418760461 (2018) Pacheco and Luo [2015] Pacheco, L., Luo, N.: Testing pid and mpc performance for mobile robot local path-following. International Journal of Advanced Robotic Systems 12(11), 155 (2015) Mayne [2014] Mayne, D.Q.: Model predictive control: Recent developments and future promise. Automatica 50(12), 2967–2986 (2014) Bai et al. [2019] Bai, G., Meng, Y., Liu, L., Luo, W., Gu, Q., Liu, L.: Review and comparison of path tracking based on model predictive control. Electronics 8(10), 1077 (2019) Conceição et al. [2007] Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Chao, C.-T., Sutarna, N., Chiou, J.-S., Wang, C.-J.: An optimal fuzzy pid controller design based on conventional pid control and nonlinear factors. Applied Sciences 9(6), 1224 (2019) Nour et al. [2007] Nour, M., Ooi, J., Chan, K.: Fuzzy logic control vs. conventional pid control of an inverted pendulum robot. In: 2007 International Conference on Intelligent and Advanced Systems, pp. 209–214 (2007). IEEE Alouache and Wu [2018] Alouache, A., Wu, Q.: Fuzzy logic pd controller for trajectory tracking of an autonomous differential drive mobile robot (ie quanser qbot). Industrial Robot: An International Journal 45(1), 23–33 (2018) Hashemi et al. [2011] Hashemi, E., Jadidi, M.G., Jadidi, N.G.: Model-based pi–fuzzy control of four-wheeled omni-directional mobile robots. Robotics and Autonomous Systems 59(11), 930–942 (2011) Abiyev et al. [2017] Abiyev, R.H., Günsel, I.S., Akkaya, N., Aytac, E., Çağman, A., Abizada, S.: Fuzzy control of omnidirectional robot. Procedia Computer Science 120, 608–616 (2017) Vu et al. [2021] Vu, T.M., Moezzi, R., Cyrus, J., Hlava, J.: Model predictive control for autonomous driving vehicles. Electronics 10(21), 2593 (2021) Maurović et al. [2011] Maurović, I., Baotić, M., Petrović, I.: Explicit model predictive control for trajectory tracking with mobile robots. In: 2011 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), pp. 712–717 (2011). IEEE Liu et al. [2022] Liu, X., Wang, W., Li, X., Liu, F., He, Z., Yao, Y., Ruan, H., Zhang, T.: Mpc-based high-speed trajectory tracking for 4wis robot. ISA transactions 123, 413–424 (2022) Kanjanawanishkul and Zell [2009] Kanjanawanishkul, K., Zell, A.: Path following for an omnidirectional mobile robot based on model predictive control. In: 2009 IEEE International Conference on Robotics and Automation, pp. 3341–3346 (2009). IEEE Yang et al. [2018] Yang, H., Guo, M., Xia, Y., Cheng, L.: Trajectory tracking for wheeled mobile robots via model predictive control with softening constraints. IET Control Theory & Applications 12(2), 206–214 (2018) Nascimento et al. [2018] Nascimento, T.P., Dórea, C.E.T., Gonçalves, L.M.G.: Nonlinear model predictive control for trajectory tracking of nonholonomic mobile robots: A modified approach. International Journal of Advanced Robotic Systems 15(1), 1729881418760461 (2018) Pacheco and Luo [2015] Pacheco, L., Luo, N.: Testing pid and mpc performance for mobile robot local path-following. International Journal of Advanced Robotic Systems 12(11), 155 (2015) Mayne [2014] Mayne, D.Q.: Model predictive control: Recent developments and future promise. Automatica 50(12), 2967–2986 (2014) Bai et al. [2019] Bai, G., Meng, Y., Liu, L., Luo, W., Gu, Q., Liu, L.: Review and comparison of path tracking based on model predictive control. Electronics 8(10), 1077 (2019) Conceição et al. [2007] Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Nour, M., Ooi, J., Chan, K.: Fuzzy logic control vs. conventional pid control of an inverted pendulum robot. In: 2007 International Conference on Intelligent and Advanced Systems, pp. 209–214 (2007). IEEE Alouache and Wu [2018] Alouache, A., Wu, Q.: Fuzzy logic pd controller for trajectory tracking of an autonomous differential drive mobile robot (ie quanser qbot). Industrial Robot: An International Journal 45(1), 23–33 (2018) Hashemi et al. [2011] Hashemi, E., Jadidi, M.G., Jadidi, N.G.: Model-based pi–fuzzy control of four-wheeled omni-directional mobile robots. Robotics and Autonomous Systems 59(11), 930–942 (2011) Abiyev et al. [2017] Abiyev, R.H., Günsel, I.S., Akkaya, N., Aytac, E., Çağman, A., Abizada, S.: Fuzzy control of omnidirectional robot. Procedia Computer Science 120, 608–616 (2017) Vu et al. [2021] Vu, T.M., Moezzi, R., Cyrus, J., Hlava, J.: Model predictive control for autonomous driving vehicles. Electronics 10(21), 2593 (2021) Maurović et al. [2011] Maurović, I., Baotić, M., Petrović, I.: Explicit model predictive control for trajectory tracking with mobile robots. In: 2011 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), pp. 712–717 (2011). IEEE Liu et al. [2022] Liu, X., Wang, W., Li, X., Liu, F., He, Z., Yao, Y., Ruan, H., Zhang, T.: Mpc-based high-speed trajectory tracking for 4wis robot. ISA transactions 123, 413–424 (2022) Kanjanawanishkul and Zell [2009] Kanjanawanishkul, K., Zell, A.: Path following for an omnidirectional mobile robot based on model predictive control. In: 2009 IEEE International Conference on Robotics and Automation, pp. 3341–3346 (2009). IEEE Yang et al. [2018] Yang, H., Guo, M., Xia, Y., Cheng, L.: Trajectory tracking for wheeled mobile robots via model predictive control with softening constraints. IET Control Theory & Applications 12(2), 206–214 (2018) Nascimento et al. [2018] Nascimento, T.P., Dórea, C.E.T., Gonçalves, L.M.G.: Nonlinear model predictive control for trajectory tracking of nonholonomic mobile robots: A modified approach. International Journal of Advanced Robotic Systems 15(1), 1729881418760461 (2018) Pacheco and Luo [2015] Pacheco, L., Luo, N.: Testing pid and mpc performance for mobile robot local path-following. International Journal of Advanced Robotic Systems 12(11), 155 (2015) Mayne [2014] Mayne, D.Q.: Model predictive control: Recent developments and future promise. Automatica 50(12), 2967–2986 (2014) Bai et al. [2019] Bai, G., Meng, Y., Liu, L., Luo, W., Gu, Q., Liu, L.: Review and comparison of path tracking based on model predictive control. Electronics 8(10), 1077 (2019) Conceição et al. [2007] Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Alouache, A., Wu, Q.: Fuzzy logic pd controller for trajectory tracking of an autonomous differential drive mobile robot (ie quanser qbot). Industrial Robot: An International Journal 45(1), 23–33 (2018) Hashemi et al. [2011] Hashemi, E., Jadidi, M.G., Jadidi, N.G.: Model-based pi–fuzzy control of four-wheeled omni-directional mobile robots. Robotics and Autonomous Systems 59(11), 930–942 (2011) Abiyev et al. [2017] Abiyev, R.H., Günsel, I.S., Akkaya, N., Aytac, E., Çağman, A., Abizada, S.: Fuzzy control of omnidirectional robot. Procedia Computer Science 120, 608–616 (2017) Vu et al. [2021] Vu, T.M., Moezzi, R., Cyrus, J., Hlava, J.: Model predictive control for autonomous driving vehicles. Electronics 10(21), 2593 (2021) Maurović et al. [2011] Maurović, I., Baotić, M., Petrović, I.: Explicit model predictive control for trajectory tracking with mobile robots. In: 2011 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), pp. 712–717 (2011). IEEE Liu et al. [2022] Liu, X., Wang, W., Li, X., Liu, F., He, Z., Yao, Y., Ruan, H., Zhang, T.: Mpc-based high-speed trajectory tracking for 4wis robot. ISA transactions 123, 413–424 (2022) Kanjanawanishkul and Zell [2009] Kanjanawanishkul, K., Zell, A.: Path following for an omnidirectional mobile robot based on model predictive control. In: 2009 IEEE International Conference on Robotics and Automation, pp. 3341–3346 (2009). IEEE Yang et al. [2018] Yang, H., Guo, M., Xia, Y., Cheng, L.: Trajectory tracking for wheeled mobile robots via model predictive control with softening constraints. IET Control Theory & Applications 12(2), 206–214 (2018) Nascimento et al. [2018] Nascimento, T.P., Dórea, C.E.T., Gonçalves, L.M.G.: Nonlinear model predictive control for trajectory tracking of nonholonomic mobile robots: A modified approach. International Journal of Advanced Robotic Systems 15(1), 1729881418760461 (2018) Pacheco and Luo [2015] Pacheco, L., Luo, N.: Testing pid and mpc performance for mobile robot local path-following. International Journal of Advanced Robotic Systems 12(11), 155 (2015) Mayne [2014] Mayne, D.Q.: Model predictive control: Recent developments and future promise. Automatica 50(12), 2967–2986 (2014) Bai et al. [2019] Bai, G., Meng, Y., Liu, L., Luo, W., Gu, Q., Liu, L.: Review and comparison of path tracking based on model predictive control. Electronics 8(10), 1077 (2019) Conceição et al. [2007] Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Hashemi, E., Jadidi, M.G., Jadidi, N.G.: Model-based pi–fuzzy control of four-wheeled omni-directional mobile robots. Robotics and Autonomous Systems 59(11), 930–942 (2011) Abiyev et al. [2017] Abiyev, R.H., Günsel, I.S., Akkaya, N., Aytac, E., Çağman, A., Abizada, S.: Fuzzy control of omnidirectional robot. Procedia Computer Science 120, 608–616 (2017) Vu et al. [2021] Vu, T.M., Moezzi, R., Cyrus, J., Hlava, J.: Model predictive control for autonomous driving vehicles. Electronics 10(21), 2593 (2021) Maurović et al. [2011] Maurović, I., Baotić, M., Petrović, I.: Explicit model predictive control for trajectory tracking with mobile robots. In: 2011 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), pp. 712–717 (2011). IEEE Liu et al. [2022] Liu, X., Wang, W., Li, X., Liu, F., He, Z., Yao, Y., Ruan, H., Zhang, T.: Mpc-based high-speed trajectory tracking for 4wis robot. ISA transactions 123, 413–424 (2022) Kanjanawanishkul and Zell [2009] Kanjanawanishkul, K., Zell, A.: Path following for an omnidirectional mobile robot based on model predictive control. In: 2009 IEEE International Conference on Robotics and Automation, pp. 3341–3346 (2009). IEEE Yang et al. [2018] Yang, H., Guo, M., Xia, Y., Cheng, L.: Trajectory tracking for wheeled mobile robots via model predictive control with softening constraints. IET Control Theory & Applications 12(2), 206–214 (2018) Nascimento et al. [2018] Nascimento, T.P., Dórea, C.E.T., Gonçalves, L.M.G.: Nonlinear model predictive control for trajectory tracking of nonholonomic mobile robots: A modified approach. International Journal of Advanced Robotic Systems 15(1), 1729881418760461 (2018) Pacheco and Luo [2015] Pacheco, L., Luo, N.: Testing pid and mpc performance for mobile robot local path-following. International Journal of Advanced Robotic Systems 12(11), 155 (2015) Mayne [2014] Mayne, D.Q.: Model predictive control: Recent developments and future promise. Automatica 50(12), 2967–2986 (2014) Bai et al. [2019] Bai, G., Meng, Y., Liu, L., Luo, W., Gu, Q., Liu, L.: Review and comparison of path tracking based on model predictive control. Electronics 8(10), 1077 (2019) Conceição et al. [2007] Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Abiyev, R.H., Günsel, I.S., Akkaya, N., Aytac, E., Çağman, A., Abizada, S.: Fuzzy control of omnidirectional robot. Procedia Computer Science 120, 608–616 (2017) Vu et al. [2021] Vu, T.M., Moezzi, R., Cyrus, J., Hlava, J.: Model predictive control for autonomous driving vehicles. Electronics 10(21), 2593 (2021) Maurović et al. [2011] Maurović, I., Baotić, M., Petrović, I.: Explicit model predictive control for trajectory tracking with mobile robots. In: 2011 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), pp. 712–717 (2011). IEEE Liu et al. [2022] Liu, X., Wang, W., Li, X., Liu, F., He, Z., Yao, Y., Ruan, H., Zhang, T.: Mpc-based high-speed trajectory tracking for 4wis robot. ISA transactions 123, 413–424 (2022) Kanjanawanishkul and Zell [2009] Kanjanawanishkul, K., Zell, A.: Path following for an omnidirectional mobile robot based on model predictive control. In: 2009 IEEE International Conference on Robotics and Automation, pp. 3341–3346 (2009). IEEE Yang et al. [2018] Yang, H., Guo, M., Xia, Y., Cheng, L.: Trajectory tracking for wheeled mobile robots via model predictive control with softening constraints. IET Control Theory & Applications 12(2), 206–214 (2018) Nascimento et al. [2018] Nascimento, T.P., Dórea, C.E.T., Gonçalves, L.M.G.: Nonlinear model predictive control for trajectory tracking of nonholonomic mobile robots: A modified approach. International Journal of Advanced Robotic Systems 15(1), 1729881418760461 (2018) Pacheco and Luo [2015] Pacheco, L., Luo, N.: Testing pid and mpc performance for mobile robot local path-following. International Journal of Advanced Robotic Systems 12(11), 155 (2015) Mayne [2014] Mayne, D.Q.: Model predictive control: Recent developments and future promise. Automatica 50(12), 2967–2986 (2014) Bai et al. [2019] Bai, G., Meng, Y., Liu, L., Luo, W., Gu, Q., Liu, L.: Review and comparison of path tracking based on model predictive control. Electronics 8(10), 1077 (2019) Conceição et al. [2007] Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Vu, T.M., Moezzi, R., Cyrus, J., Hlava, J.: Model predictive control for autonomous driving vehicles. Electronics 10(21), 2593 (2021) Maurović et al. [2011] Maurović, I., Baotić, M., Petrović, I.: Explicit model predictive control for trajectory tracking with mobile robots. In: 2011 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), pp. 712–717 (2011). IEEE Liu et al. [2022] Liu, X., Wang, W., Li, X., Liu, F., He, Z., Yao, Y., Ruan, H., Zhang, T.: Mpc-based high-speed trajectory tracking for 4wis robot. ISA transactions 123, 413–424 (2022) Kanjanawanishkul and Zell [2009] Kanjanawanishkul, K., Zell, A.: Path following for an omnidirectional mobile robot based on model predictive control. In: 2009 IEEE International Conference on Robotics and Automation, pp. 3341–3346 (2009). IEEE Yang et al. [2018] Yang, H., Guo, M., Xia, Y., Cheng, L.: Trajectory tracking for wheeled mobile robots via model predictive control with softening constraints. IET Control Theory & Applications 12(2), 206–214 (2018) Nascimento et al. [2018] Nascimento, T.P., Dórea, C.E.T., Gonçalves, L.M.G.: Nonlinear model predictive control for trajectory tracking of nonholonomic mobile robots: A modified approach. International Journal of Advanced Robotic Systems 15(1), 1729881418760461 (2018) Pacheco and Luo [2015] Pacheco, L., Luo, N.: Testing pid and mpc performance for mobile robot local path-following. International Journal of Advanced Robotic Systems 12(11), 155 (2015) Mayne [2014] Mayne, D.Q.: Model predictive control: Recent developments and future promise. Automatica 50(12), 2967–2986 (2014) Bai et al. [2019] Bai, G., Meng, Y., Liu, L., Luo, W., Gu, Q., Liu, L.: Review and comparison of path tracking based on model predictive control. Electronics 8(10), 1077 (2019) Conceição et al. [2007] Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Maurović, I., Baotić, M., Petrović, I.: Explicit model predictive control for trajectory tracking with mobile robots. In: 2011 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), pp. 712–717 (2011). IEEE Liu et al. [2022] Liu, X., Wang, W., Li, X., Liu, F., He, Z., Yao, Y., Ruan, H., Zhang, T.: Mpc-based high-speed trajectory tracking for 4wis robot. ISA transactions 123, 413–424 (2022) Kanjanawanishkul and Zell [2009] Kanjanawanishkul, K., Zell, A.: Path following for an omnidirectional mobile robot based on model predictive control. In: 2009 IEEE International Conference on Robotics and Automation, pp. 3341–3346 (2009). IEEE Yang et al. [2018] Yang, H., Guo, M., Xia, Y., Cheng, L.: Trajectory tracking for wheeled mobile robots via model predictive control with softening constraints. IET Control Theory & Applications 12(2), 206–214 (2018) Nascimento et al. [2018] Nascimento, T.P., Dórea, C.E.T., Gonçalves, L.M.G.: Nonlinear model predictive control for trajectory tracking of nonholonomic mobile robots: A modified approach. International Journal of Advanced Robotic Systems 15(1), 1729881418760461 (2018) Pacheco and Luo [2015] Pacheco, L., Luo, N.: Testing pid and mpc performance for mobile robot local path-following. International Journal of Advanced Robotic Systems 12(11), 155 (2015) Mayne [2014] Mayne, D.Q.: Model predictive control: Recent developments and future promise. Automatica 50(12), 2967–2986 (2014) Bai et al. [2019] Bai, G., Meng, Y., Liu, L., Luo, W., Gu, Q., Liu, L.: Review and comparison of path tracking based on model predictive control. Electronics 8(10), 1077 (2019) Conceição et al. [2007] Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Liu, X., Wang, W., Li, X., Liu, F., He, Z., Yao, Y., Ruan, H., Zhang, T.: Mpc-based high-speed trajectory tracking for 4wis robot. ISA transactions 123, 413–424 (2022) Kanjanawanishkul and Zell [2009] Kanjanawanishkul, K., Zell, A.: Path following for an omnidirectional mobile robot based on model predictive control. In: 2009 IEEE International Conference on Robotics and Automation, pp. 3341–3346 (2009). IEEE Yang et al. [2018] Yang, H., Guo, M., Xia, Y., Cheng, L.: Trajectory tracking for wheeled mobile robots via model predictive control with softening constraints. IET Control Theory & Applications 12(2), 206–214 (2018) Nascimento et al. [2018] Nascimento, T.P., Dórea, C.E.T., Gonçalves, L.M.G.: Nonlinear model predictive control for trajectory tracking of nonholonomic mobile robots: A modified approach. International Journal of Advanced Robotic Systems 15(1), 1729881418760461 (2018) Pacheco and Luo [2015] Pacheco, L., Luo, N.: Testing pid and mpc performance for mobile robot local path-following. International Journal of Advanced Robotic Systems 12(11), 155 (2015) Mayne [2014] Mayne, D.Q.: Model predictive control: Recent developments and future promise. Automatica 50(12), 2967–2986 (2014) Bai et al. [2019] Bai, G., Meng, Y., Liu, L., Luo, W., Gu, Q., Liu, L.: Review and comparison of path tracking based on model predictive control. Electronics 8(10), 1077 (2019) Conceição et al. [2007] Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Kanjanawanishkul, K., Zell, A.: Path following for an omnidirectional mobile robot based on model predictive control. In: 2009 IEEE International Conference on Robotics and Automation, pp. 3341–3346 (2009). IEEE Yang et al. [2018] Yang, H., Guo, M., Xia, Y., Cheng, L.: Trajectory tracking for wheeled mobile robots via model predictive control with softening constraints. IET Control Theory & Applications 12(2), 206–214 (2018) Nascimento et al. [2018] Nascimento, T.P., Dórea, C.E.T., Gonçalves, L.M.G.: Nonlinear model predictive control for trajectory tracking of nonholonomic mobile robots: A modified approach. International Journal of Advanced Robotic Systems 15(1), 1729881418760461 (2018) Pacheco and Luo [2015] Pacheco, L., Luo, N.: Testing pid and mpc performance for mobile robot local path-following. International Journal of Advanced Robotic Systems 12(11), 155 (2015) Mayne [2014] Mayne, D.Q.: Model predictive control: Recent developments and future promise. Automatica 50(12), 2967–2986 (2014) Bai et al. [2019] Bai, G., Meng, Y., Liu, L., Luo, W., Gu, Q., Liu, L.: Review and comparison of path tracking based on model predictive control. Electronics 8(10), 1077 (2019) Conceição et al. [2007] Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Yang, H., Guo, M., Xia, Y., Cheng, L.: Trajectory tracking for wheeled mobile robots via model predictive control with softening constraints. IET Control Theory & Applications 12(2), 206–214 (2018) Nascimento et al. [2018] Nascimento, T.P., Dórea, C.E.T., Gonçalves, L.M.G.: Nonlinear model predictive control for trajectory tracking of nonholonomic mobile robots: A modified approach. International Journal of Advanced Robotic Systems 15(1), 1729881418760461 (2018) Pacheco and Luo [2015] Pacheco, L., Luo, N.: Testing pid and mpc performance for mobile robot local path-following. International Journal of Advanced Robotic Systems 12(11), 155 (2015) Mayne [2014] Mayne, D.Q.: Model predictive control: Recent developments and future promise. Automatica 50(12), 2967–2986 (2014) Bai et al. [2019] Bai, G., Meng, Y., Liu, L., Luo, W., Gu, Q., Liu, L.: Review and comparison of path tracking based on model predictive control. Electronics 8(10), 1077 (2019) Conceição et al. [2007] Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Nascimento, T.P., Dórea, C.E.T., Gonçalves, L.M.G.: Nonlinear model predictive control for trajectory tracking of nonholonomic mobile robots: A modified approach. International Journal of Advanced Robotic Systems 15(1), 1729881418760461 (2018) Pacheco and Luo [2015] Pacheco, L., Luo, N.: Testing pid and mpc performance for mobile robot local path-following. International Journal of Advanced Robotic Systems 12(11), 155 (2015) Mayne [2014] Mayne, D.Q.: Model predictive control: Recent developments and future promise. Automatica 50(12), 2967–2986 (2014) Bai et al. [2019] Bai, G., Meng, Y., Liu, L., Luo, W., Gu, Q., Liu, L.: Review and comparison of path tracking based on model predictive control. Electronics 8(10), 1077 (2019) Conceição et al. [2007] Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Pacheco, L., Luo, N.: Testing pid and mpc performance for mobile robot local path-following. International Journal of Advanced Robotic Systems 12(11), 155 (2015) Mayne [2014] Mayne, D.Q.: Model predictive control: Recent developments and future promise. Automatica 50(12), 2967–2986 (2014) Bai et al. [2019] Bai, G., Meng, Y., Liu, L., Luo, W., Gu, Q., Liu, L.: Review and comparison of path tracking based on model predictive control. Electronics 8(10), 1077 (2019) Conceição et al. [2007] Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Mayne, D.Q.: Model predictive control: Recent developments and future promise. Automatica 50(12), 2967–2986 (2014) Bai et al. [2019] Bai, G., Meng, Y., Liu, L., Luo, W., Gu, Q., Liu, L.: Review and comparison of path tracking based on model predictive control. Electronics 8(10), 1077 (2019) Conceição et al. [2007] Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Bai, G., Meng, Y., Liu, L., Luo, W., Gu, Q., Liu, L.: Review and comparison of path tracking based on model predictive control. Electronics 8(10), 1077 (2019) Conceição et al. [2007] Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019)
- Bansal, U.K., Narvey, R.: Speed control of dc motor using fuzzy pid controller. Advance in Electronic and Electric Engineering 3(9), 1209–1220 (2013) Chao et al. [2019] Chao, C.-T., Sutarna, N., Chiou, J.-S., Wang, C.-J.: An optimal fuzzy pid controller design based on conventional pid control and nonlinear factors. Applied Sciences 9(6), 1224 (2019) Nour et al. [2007] Nour, M., Ooi, J., Chan, K.: Fuzzy logic control vs. conventional pid control of an inverted pendulum robot. In: 2007 International Conference on Intelligent and Advanced Systems, pp. 209–214 (2007). IEEE Alouache and Wu [2018] Alouache, A., Wu, Q.: Fuzzy logic pd controller for trajectory tracking of an autonomous differential drive mobile robot (ie quanser qbot). Industrial Robot: An International Journal 45(1), 23–33 (2018) Hashemi et al. [2011] Hashemi, E., Jadidi, M.G., Jadidi, N.G.: Model-based pi–fuzzy control of four-wheeled omni-directional mobile robots. 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In: 2009 IEEE International Conference on Robotics and Automation, pp. 3341–3346 (2009). IEEE Yang et al. [2018] Yang, H., Guo, M., Xia, Y., Cheng, L.: Trajectory tracking for wheeled mobile robots via model predictive control with softening constraints. IET Control Theory & Applications 12(2), 206–214 (2018) Nascimento et al. [2018] Nascimento, T.P., Dórea, C.E.T., Gonçalves, L.M.G.: Nonlinear model predictive control for trajectory tracking of nonholonomic mobile robots: A modified approach. International Journal of Advanced Robotic Systems 15(1), 1729881418760461 (2018) Pacheco and Luo [2015] Pacheco, L., Luo, N.: Testing pid and mpc performance for mobile robot local path-following. International Journal of Advanced Robotic Systems 12(11), 155 (2015) Mayne [2014] Mayne, D.Q.: Model predictive control: Recent developments and future promise. Automatica 50(12), 2967–2986 (2014) Bai et al. [2019] Bai, G., Meng, Y., Liu, L., Luo, W., Gu, Q., Liu, L.: Review and comparison of path tracking based on model predictive control. Electronics 8(10), 1077 (2019) Conceição et al. [2007] Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Chao, C.-T., Sutarna, N., Chiou, J.-S., Wang, C.-J.: An optimal fuzzy pid controller design based on conventional pid control and nonlinear factors. Applied Sciences 9(6), 1224 (2019) Nour et al. [2007] Nour, M., Ooi, J., Chan, K.: Fuzzy logic control vs. conventional pid control of an inverted pendulum robot. In: 2007 International Conference on Intelligent and Advanced Systems, pp. 209–214 (2007). IEEE Alouache and Wu [2018] Alouache, A., Wu, Q.: Fuzzy logic pd controller for trajectory tracking of an autonomous differential drive mobile robot (ie quanser qbot). Industrial Robot: An International Journal 45(1), 23–33 (2018) Hashemi et al. [2011] Hashemi, E., Jadidi, M.G., Jadidi, N.G.: Model-based pi–fuzzy control of four-wheeled omni-directional mobile robots. Robotics and Autonomous Systems 59(11), 930–942 (2011) Abiyev et al. [2017] Abiyev, R.H., Günsel, I.S., Akkaya, N., Aytac, E., Çağman, A., Abizada, S.: Fuzzy control of omnidirectional robot. Procedia Computer Science 120, 608–616 (2017) Vu et al. [2021] Vu, T.M., Moezzi, R., Cyrus, J., Hlava, J.: Model predictive control for autonomous driving vehicles. Electronics 10(21), 2593 (2021) Maurović et al. [2011] Maurović, I., Baotić, M., Petrović, I.: Explicit model predictive control for trajectory tracking with mobile robots. In: 2011 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), pp. 712–717 (2011). IEEE Liu et al. [2022] Liu, X., Wang, W., Li, X., Liu, F., He, Z., Yao, Y., Ruan, H., Zhang, T.: Mpc-based high-speed trajectory tracking for 4wis robot. ISA transactions 123, 413–424 (2022) Kanjanawanishkul and Zell [2009] Kanjanawanishkul, K., Zell, A.: Path following for an omnidirectional mobile robot based on model predictive control. In: 2009 IEEE International Conference on Robotics and Automation, pp. 3341–3346 (2009). IEEE Yang et al. [2018] Yang, H., Guo, M., Xia, Y., Cheng, L.: Trajectory tracking for wheeled mobile robots via model predictive control with softening constraints. IET Control Theory & Applications 12(2), 206–214 (2018) Nascimento et al. [2018] Nascimento, T.P., Dórea, C.E.T., Gonçalves, L.M.G.: Nonlinear model predictive control for trajectory tracking of nonholonomic mobile robots: A modified approach. International Journal of Advanced Robotic Systems 15(1), 1729881418760461 (2018) Pacheco and Luo [2015] Pacheco, L., Luo, N.: Testing pid and mpc performance for mobile robot local path-following. International Journal of Advanced Robotic Systems 12(11), 155 (2015) Mayne [2014] Mayne, D.Q.: Model predictive control: Recent developments and future promise. Automatica 50(12), 2967–2986 (2014) Bai et al. [2019] Bai, G., Meng, Y., Liu, L., Luo, W., Gu, Q., Liu, L.: Review and comparison of path tracking based on model predictive control. Electronics 8(10), 1077 (2019) Conceição et al. [2007] Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Nour, M., Ooi, J., Chan, K.: Fuzzy logic control vs. conventional pid control of an inverted pendulum robot. In: 2007 International Conference on Intelligent and Advanced Systems, pp. 209–214 (2007). IEEE Alouache and Wu [2018] Alouache, A., Wu, Q.: Fuzzy logic pd controller for trajectory tracking of an autonomous differential drive mobile robot (ie quanser qbot). Industrial Robot: An International Journal 45(1), 23–33 (2018) Hashemi et al. [2011] Hashemi, E., Jadidi, M.G., Jadidi, N.G.: Model-based pi–fuzzy control of four-wheeled omni-directional mobile robots. Robotics and Autonomous Systems 59(11), 930–942 (2011) Abiyev et al. [2017] Abiyev, R.H., Günsel, I.S., Akkaya, N., Aytac, E., Çağman, A., Abizada, S.: Fuzzy control of omnidirectional robot. Procedia Computer Science 120, 608–616 (2017) Vu et al. [2021] Vu, T.M., Moezzi, R., Cyrus, J., Hlava, J.: Model predictive control for autonomous driving vehicles. Electronics 10(21), 2593 (2021) Maurović et al. [2011] Maurović, I., Baotić, M., Petrović, I.: Explicit model predictive control for trajectory tracking with mobile robots. In: 2011 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), pp. 712–717 (2011). IEEE Liu et al. [2022] Liu, X., Wang, W., Li, X., Liu, F., He, Z., Yao, Y., Ruan, H., Zhang, T.: Mpc-based high-speed trajectory tracking for 4wis robot. ISA transactions 123, 413–424 (2022) Kanjanawanishkul and Zell [2009] Kanjanawanishkul, K., Zell, A.: Path following for an omnidirectional mobile robot based on model predictive control. In: 2009 IEEE International Conference on Robotics and Automation, pp. 3341–3346 (2009). IEEE Yang et al. [2018] Yang, H., Guo, M., Xia, Y., Cheng, L.: Trajectory tracking for wheeled mobile robots via model predictive control with softening constraints. IET Control Theory & Applications 12(2), 206–214 (2018) Nascimento et al. [2018] Nascimento, T.P., Dórea, C.E.T., Gonçalves, L.M.G.: Nonlinear model predictive control for trajectory tracking of nonholonomic mobile robots: A modified approach. International Journal of Advanced Robotic Systems 15(1), 1729881418760461 (2018) Pacheco and Luo [2015] Pacheco, L., Luo, N.: Testing pid and mpc performance for mobile robot local path-following. International Journal of Advanced Robotic Systems 12(11), 155 (2015) Mayne [2014] Mayne, D.Q.: Model predictive control: Recent developments and future promise. Automatica 50(12), 2967–2986 (2014) Bai et al. [2019] Bai, G., Meng, Y., Liu, L., Luo, W., Gu, Q., Liu, L.: Review and comparison of path tracking based on model predictive control. Electronics 8(10), 1077 (2019) Conceição et al. [2007] Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Alouache, A., Wu, Q.: Fuzzy logic pd controller for trajectory tracking of an autonomous differential drive mobile robot (ie quanser qbot). Industrial Robot: An International Journal 45(1), 23–33 (2018) Hashemi et al. [2011] Hashemi, E., Jadidi, M.G., Jadidi, N.G.: Model-based pi–fuzzy control of four-wheeled omni-directional mobile robots. Robotics and Autonomous Systems 59(11), 930–942 (2011) Abiyev et al. [2017] Abiyev, R.H., Günsel, I.S., Akkaya, N., Aytac, E., Çağman, A., Abizada, S.: Fuzzy control of omnidirectional robot. Procedia Computer Science 120, 608–616 (2017) Vu et al. [2021] Vu, T.M., Moezzi, R., Cyrus, J., Hlava, J.: Model predictive control for autonomous driving vehicles. Electronics 10(21), 2593 (2021) Maurović et al. [2011] Maurović, I., Baotić, M., Petrović, I.: Explicit model predictive control for trajectory tracking with mobile robots. In: 2011 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), pp. 712–717 (2011). IEEE Liu et al. [2022] Liu, X., Wang, W., Li, X., Liu, F., He, Z., Yao, Y., Ruan, H., Zhang, T.: Mpc-based high-speed trajectory tracking for 4wis robot. ISA transactions 123, 413–424 (2022) Kanjanawanishkul and Zell [2009] Kanjanawanishkul, K., Zell, A.: Path following for an omnidirectional mobile robot based on model predictive control. In: 2009 IEEE International Conference on Robotics and Automation, pp. 3341–3346 (2009). IEEE Yang et al. [2018] Yang, H., Guo, M., Xia, Y., Cheng, L.: Trajectory tracking for wheeled mobile robots via model predictive control with softening constraints. IET Control Theory & Applications 12(2), 206–214 (2018) Nascimento et al. [2018] Nascimento, T.P., Dórea, C.E.T., Gonçalves, L.M.G.: Nonlinear model predictive control for trajectory tracking of nonholonomic mobile robots: A modified approach. International Journal of Advanced Robotic Systems 15(1), 1729881418760461 (2018) Pacheco and Luo [2015] Pacheco, L., Luo, N.: Testing pid and mpc performance for mobile robot local path-following. International Journal of Advanced Robotic Systems 12(11), 155 (2015) Mayne [2014] Mayne, D.Q.: Model predictive control: Recent developments and future promise. Automatica 50(12), 2967–2986 (2014) Bai et al. [2019] Bai, G., Meng, Y., Liu, L., Luo, W., Gu, Q., Liu, L.: Review and comparison of path tracking based on model predictive control. Electronics 8(10), 1077 (2019) Conceição et al. [2007] Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Hashemi, E., Jadidi, M.G., Jadidi, N.G.: Model-based pi–fuzzy control of four-wheeled omni-directional mobile robots. Robotics and Autonomous Systems 59(11), 930–942 (2011) Abiyev et al. [2017] Abiyev, R.H., Günsel, I.S., Akkaya, N., Aytac, E., Çağman, A., Abizada, S.: Fuzzy control of omnidirectional robot. Procedia Computer Science 120, 608–616 (2017) Vu et al. [2021] Vu, T.M., Moezzi, R., Cyrus, J., Hlava, J.: Model predictive control for autonomous driving vehicles. Electronics 10(21), 2593 (2021) Maurović et al. [2011] Maurović, I., Baotić, M., Petrović, I.: Explicit model predictive control for trajectory tracking with mobile robots. In: 2011 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), pp. 712–717 (2011). IEEE Liu et al. [2022] Liu, X., Wang, W., Li, X., Liu, F., He, Z., Yao, Y., Ruan, H., Zhang, T.: Mpc-based high-speed trajectory tracking for 4wis robot. ISA transactions 123, 413–424 (2022) Kanjanawanishkul and Zell [2009] Kanjanawanishkul, K., Zell, A.: Path following for an omnidirectional mobile robot based on model predictive control. In: 2009 IEEE International Conference on Robotics and Automation, pp. 3341–3346 (2009). IEEE Yang et al. [2018] Yang, H., Guo, M., Xia, Y., Cheng, L.: Trajectory tracking for wheeled mobile robots via model predictive control with softening constraints. IET Control Theory & Applications 12(2), 206–214 (2018) Nascimento et al. [2018] Nascimento, T.P., Dórea, C.E.T., Gonçalves, L.M.G.: Nonlinear model predictive control for trajectory tracking of nonholonomic mobile robots: A modified approach. International Journal of Advanced Robotic Systems 15(1), 1729881418760461 (2018) Pacheco and Luo [2015] Pacheco, L., Luo, N.: Testing pid and mpc performance for mobile robot local path-following. International Journal of Advanced Robotic Systems 12(11), 155 (2015) Mayne [2014] Mayne, D.Q.: Model predictive control: Recent developments and future promise. Automatica 50(12), 2967–2986 (2014) Bai et al. [2019] Bai, G., Meng, Y., Liu, L., Luo, W., Gu, Q., Liu, L.: Review and comparison of path tracking based on model predictive control. Electronics 8(10), 1077 (2019) Conceição et al. [2007] Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Abiyev, R.H., Günsel, I.S., Akkaya, N., Aytac, E., Çağman, A., Abizada, S.: Fuzzy control of omnidirectional robot. Procedia Computer Science 120, 608–616 (2017) Vu et al. [2021] Vu, T.M., Moezzi, R., Cyrus, J., Hlava, J.: Model predictive control for autonomous driving vehicles. Electronics 10(21), 2593 (2021) Maurović et al. [2011] Maurović, I., Baotić, M., Petrović, I.: Explicit model predictive control for trajectory tracking with mobile robots. In: 2011 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), pp. 712–717 (2011). IEEE Liu et al. [2022] Liu, X., Wang, W., Li, X., Liu, F., He, Z., Yao, Y., Ruan, H., Zhang, T.: Mpc-based high-speed trajectory tracking for 4wis robot. ISA transactions 123, 413–424 (2022) Kanjanawanishkul and Zell [2009] Kanjanawanishkul, K., Zell, A.: Path following for an omnidirectional mobile robot based on model predictive control. In: 2009 IEEE International Conference on Robotics and Automation, pp. 3341–3346 (2009). IEEE Yang et al. [2018] Yang, H., Guo, M., Xia, Y., Cheng, L.: Trajectory tracking for wheeled mobile robots via model predictive control with softening constraints. IET Control Theory & Applications 12(2), 206–214 (2018) Nascimento et al. [2018] Nascimento, T.P., Dórea, C.E.T., Gonçalves, L.M.G.: Nonlinear model predictive control for trajectory tracking of nonholonomic mobile robots: A modified approach. International Journal of Advanced Robotic Systems 15(1), 1729881418760461 (2018) Pacheco and Luo [2015] Pacheco, L., Luo, N.: Testing pid and mpc performance for mobile robot local path-following. International Journal of Advanced Robotic Systems 12(11), 155 (2015) Mayne [2014] Mayne, D.Q.: Model predictive control: Recent developments and future promise. Automatica 50(12), 2967–2986 (2014) Bai et al. [2019] Bai, G., Meng, Y., Liu, L., Luo, W., Gu, Q., Liu, L.: Review and comparison of path tracking based on model predictive control. Electronics 8(10), 1077 (2019) Conceição et al. [2007] Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Vu, T.M., Moezzi, R., Cyrus, J., Hlava, J.: Model predictive control for autonomous driving vehicles. Electronics 10(21), 2593 (2021) Maurović et al. [2011] Maurović, I., Baotić, M., Petrović, I.: Explicit model predictive control for trajectory tracking with mobile robots. In: 2011 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), pp. 712–717 (2011). IEEE Liu et al. [2022] Liu, X., Wang, W., Li, X., Liu, F., He, Z., Yao, Y., Ruan, H., Zhang, T.: Mpc-based high-speed trajectory tracking for 4wis robot. ISA transactions 123, 413–424 (2022) Kanjanawanishkul and Zell [2009] Kanjanawanishkul, K., Zell, A.: Path following for an omnidirectional mobile robot based on model predictive control. In: 2009 IEEE International Conference on Robotics and Automation, pp. 3341–3346 (2009). IEEE Yang et al. [2018] Yang, H., Guo, M., Xia, Y., Cheng, L.: Trajectory tracking for wheeled mobile robots via model predictive control with softening constraints. IET Control Theory & Applications 12(2), 206–214 (2018) Nascimento et al. [2018] Nascimento, T.P., Dórea, C.E.T., Gonçalves, L.M.G.: Nonlinear model predictive control for trajectory tracking of nonholonomic mobile robots: A modified approach. International Journal of Advanced Robotic Systems 15(1), 1729881418760461 (2018) Pacheco and Luo [2015] Pacheco, L., Luo, N.: Testing pid and mpc performance for mobile robot local path-following. International Journal of Advanced Robotic Systems 12(11), 155 (2015) Mayne [2014] Mayne, D.Q.: Model predictive control: Recent developments and future promise. Automatica 50(12), 2967–2986 (2014) Bai et al. [2019] Bai, G., Meng, Y., Liu, L., Luo, W., Gu, Q., Liu, L.: Review and comparison of path tracking based on model predictive control. Electronics 8(10), 1077 (2019) Conceição et al. [2007] Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Maurović, I., Baotić, M., Petrović, I.: Explicit model predictive control for trajectory tracking with mobile robots. In: 2011 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), pp. 712–717 (2011). IEEE Liu et al. [2022] Liu, X., Wang, W., Li, X., Liu, F., He, Z., Yao, Y., Ruan, H., Zhang, T.: Mpc-based high-speed trajectory tracking for 4wis robot. ISA transactions 123, 413–424 (2022) Kanjanawanishkul and Zell [2009] Kanjanawanishkul, K., Zell, A.: Path following for an omnidirectional mobile robot based on model predictive control. In: 2009 IEEE International Conference on Robotics and Automation, pp. 3341–3346 (2009). IEEE Yang et al. [2018] Yang, H., Guo, M., Xia, Y., Cheng, L.: Trajectory tracking for wheeled mobile robots via model predictive control with softening constraints. IET Control Theory & Applications 12(2), 206–214 (2018) Nascimento et al. [2018] Nascimento, T.P., Dórea, C.E.T., Gonçalves, L.M.G.: Nonlinear model predictive control for trajectory tracking of nonholonomic mobile robots: A modified approach. International Journal of Advanced Robotic Systems 15(1), 1729881418760461 (2018) Pacheco and Luo [2015] Pacheco, L., Luo, N.: Testing pid and mpc performance for mobile robot local path-following. International Journal of Advanced Robotic Systems 12(11), 155 (2015) Mayne [2014] Mayne, D.Q.: Model predictive control: Recent developments and future promise. Automatica 50(12), 2967–2986 (2014) Bai et al. [2019] Bai, G., Meng, Y., Liu, L., Luo, W., Gu, Q., Liu, L.: Review and comparison of path tracking based on model predictive control. Electronics 8(10), 1077 (2019) Conceição et al. [2007] Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Liu, X., Wang, W., Li, X., Liu, F., He, Z., Yao, Y., Ruan, H., Zhang, T.: Mpc-based high-speed trajectory tracking for 4wis robot. ISA transactions 123, 413–424 (2022) Kanjanawanishkul and Zell [2009] Kanjanawanishkul, K., Zell, A.: Path following for an omnidirectional mobile robot based on model predictive control. In: 2009 IEEE International Conference on Robotics and Automation, pp. 3341–3346 (2009). IEEE Yang et al. [2018] Yang, H., Guo, M., Xia, Y., Cheng, L.: Trajectory tracking for wheeled mobile robots via model predictive control with softening constraints. IET Control Theory & Applications 12(2), 206–214 (2018) Nascimento et al. [2018] Nascimento, T.P., Dórea, C.E.T., Gonçalves, L.M.G.: Nonlinear model predictive control for trajectory tracking of nonholonomic mobile robots: A modified approach. International Journal of Advanced Robotic Systems 15(1), 1729881418760461 (2018) Pacheco and Luo [2015] Pacheco, L., Luo, N.: Testing pid and mpc performance for mobile robot local path-following. International Journal of Advanced Robotic Systems 12(11), 155 (2015) Mayne [2014] Mayne, D.Q.: Model predictive control: Recent developments and future promise. Automatica 50(12), 2967–2986 (2014) Bai et al. [2019] Bai, G., Meng, Y., Liu, L., Luo, W., Gu, Q., Liu, L.: Review and comparison of path tracking based on model predictive control. Electronics 8(10), 1077 (2019) Conceição et al. [2007] Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Kanjanawanishkul, K., Zell, A.: Path following for an omnidirectional mobile robot based on model predictive control. In: 2009 IEEE International Conference on Robotics and Automation, pp. 3341–3346 (2009). IEEE Yang et al. [2018] Yang, H., Guo, M., Xia, Y., Cheng, L.: Trajectory tracking for wheeled mobile robots via model predictive control with softening constraints. IET Control Theory & Applications 12(2), 206–214 (2018) Nascimento et al. [2018] Nascimento, T.P., Dórea, C.E.T., Gonçalves, L.M.G.: Nonlinear model predictive control for trajectory tracking of nonholonomic mobile robots: A modified approach. International Journal of Advanced Robotic Systems 15(1), 1729881418760461 (2018) Pacheco and Luo [2015] Pacheco, L., Luo, N.: Testing pid and mpc performance for mobile robot local path-following. International Journal of Advanced Robotic Systems 12(11), 155 (2015) Mayne [2014] Mayne, D.Q.: Model predictive control: Recent developments and future promise. Automatica 50(12), 2967–2986 (2014) Bai et al. [2019] Bai, G., Meng, Y., Liu, L., Luo, W., Gu, Q., Liu, L.: Review and comparison of path tracking based on model predictive control. Electronics 8(10), 1077 (2019) Conceição et al. [2007] Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Yang, H., Guo, M., Xia, Y., Cheng, L.: Trajectory tracking for wheeled mobile robots via model predictive control with softening constraints. IET Control Theory & Applications 12(2), 206–214 (2018) Nascimento et al. [2018] Nascimento, T.P., Dórea, C.E.T., Gonçalves, L.M.G.: Nonlinear model predictive control for trajectory tracking of nonholonomic mobile robots: A modified approach. International Journal of Advanced Robotic Systems 15(1), 1729881418760461 (2018) Pacheco and Luo [2015] Pacheco, L., Luo, N.: Testing pid and mpc performance for mobile robot local path-following. International Journal of Advanced Robotic Systems 12(11), 155 (2015) Mayne [2014] Mayne, D.Q.: Model predictive control: Recent developments and future promise. Automatica 50(12), 2967–2986 (2014) Bai et al. [2019] Bai, G., Meng, Y., Liu, L., Luo, W., Gu, Q., Liu, L.: Review and comparison of path tracking based on model predictive control. Electronics 8(10), 1077 (2019) Conceição et al. [2007] Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Nascimento, T.P., Dórea, C.E.T., Gonçalves, L.M.G.: Nonlinear model predictive control for trajectory tracking of nonholonomic mobile robots: A modified approach. International Journal of Advanced Robotic Systems 15(1), 1729881418760461 (2018) Pacheco and Luo [2015] Pacheco, L., Luo, N.: Testing pid and mpc performance for mobile robot local path-following. International Journal of Advanced Robotic Systems 12(11), 155 (2015) Mayne [2014] Mayne, D.Q.: Model predictive control: Recent developments and future promise. Automatica 50(12), 2967–2986 (2014) Bai et al. [2019] Bai, G., Meng, Y., Liu, L., Luo, W., Gu, Q., Liu, L.: Review and comparison of path tracking based on model predictive control. Electronics 8(10), 1077 (2019) Conceição et al. [2007] Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Pacheco, L., Luo, N.: Testing pid and mpc performance for mobile robot local path-following. International Journal of Advanced Robotic Systems 12(11), 155 (2015) Mayne [2014] Mayne, D.Q.: Model predictive control: Recent developments and future promise. Automatica 50(12), 2967–2986 (2014) Bai et al. [2019] Bai, G., Meng, Y., Liu, L., Luo, W., Gu, Q., Liu, L.: Review and comparison of path tracking based on model predictive control. Electronics 8(10), 1077 (2019) Conceição et al. [2007] Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Mayne, D.Q.: Model predictive control: Recent developments and future promise. Automatica 50(12), 2967–2986 (2014) Bai et al. [2019] Bai, G., Meng, Y., Liu, L., Luo, W., Gu, Q., Liu, L.: Review and comparison of path tracking based on model predictive control. Electronics 8(10), 1077 (2019) Conceição et al. [2007] Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Bai, G., Meng, Y., Liu, L., Luo, W., Gu, Q., Liu, L.: Review and comparison of path tracking based on model predictive control. Electronics 8(10), 1077 (2019) Conceição et al. [2007] Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019)
- Chao, C.-T., Sutarna, N., Chiou, J.-S., Wang, C.-J.: An optimal fuzzy pid controller design based on conventional pid control and nonlinear factors. Applied Sciences 9(6), 1224 (2019) Nour et al. [2007] Nour, M., Ooi, J., Chan, K.: Fuzzy logic control vs. conventional pid control of an inverted pendulum robot. In: 2007 International Conference on Intelligent and Advanced Systems, pp. 209–214 (2007). IEEE Alouache and Wu [2018] Alouache, A., Wu, Q.: Fuzzy logic pd controller for trajectory tracking of an autonomous differential drive mobile robot (ie quanser qbot). Industrial Robot: An International Journal 45(1), 23–33 (2018) Hashemi et al. [2011] Hashemi, E., Jadidi, M.G., Jadidi, N.G.: Model-based pi–fuzzy control of four-wheeled omni-directional mobile robots. Robotics and Autonomous Systems 59(11), 930–942 (2011) Abiyev et al. [2017] Abiyev, R.H., Günsel, I.S., Akkaya, N., Aytac, E., Çağman, A., Abizada, S.: Fuzzy control of omnidirectional robot. Procedia Computer Science 120, 608–616 (2017) Vu et al. [2021] Vu, T.M., Moezzi, R., Cyrus, J., Hlava, J.: Model predictive control for autonomous driving vehicles. Electronics 10(21), 2593 (2021) Maurović et al. [2011] Maurović, I., Baotić, M., Petrović, I.: Explicit model predictive control for trajectory tracking with mobile robots. In: 2011 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), pp. 712–717 (2011). IEEE Liu et al. [2022] Liu, X., Wang, W., Li, X., Liu, F., He, Z., Yao, Y., Ruan, H., Zhang, T.: Mpc-based high-speed trajectory tracking for 4wis robot. ISA transactions 123, 413–424 (2022) Kanjanawanishkul and Zell [2009] Kanjanawanishkul, K., Zell, A.: Path following for an omnidirectional mobile robot based on model predictive control. In: 2009 IEEE International Conference on Robotics and Automation, pp. 3341–3346 (2009). IEEE Yang et al. [2018] Yang, H., Guo, M., Xia, Y., Cheng, L.: Trajectory tracking for wheeled mobile robots via model predictive control with softening constraints. IET Control Theory & Applications 12(2), 206–214 (2018) Nascimento et al. [2018] Nascimento, T.P., Dórea, C.E.T., Gonçalves, L.M.G.: Nonlinear model predictive control for trajectory tracking of nonholonomic mobile robots: A modified approach. International Journal of Advanced Robotic Systems 15(1), 1729881418760461 (2018) Pacheco and Luo [2015] Pacheco, L., Luo, N.: Testing pid and mpc performance for mobile robot local path-following. International Journal of Advanced Robotic Systems 12(11), 155 (2015) Mayne [2014] Mayne, D.Q.: Model predictive control: Recent developments and future promise. Automatica 50(12), 2967–2986 (2014) Bai et al. [2019] Bai, G., Meng, Y., Liu, L., Luo, W., Gu, Q., Liu, L.: Review and comparison of path tracking based on model predictive control. Electronics 8(10), 1077 (2019) Conceição et al. [2007] Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Nour, M., Ooi, J., Chan, K.: Fuzzy logic control vs. conventional pid control of an inverted pendulum robot. In: 2007 International Conference on Intelligent and Advanced Systems, pp. 209–214 (2007). IEEE Alouache and Wu [2018] Alouache, A., Wu, Q.: Fuzzy logic pd controller for trajectory tracking of an autonomous differential drive mobile robot (ie quanser qbot). Industrial Robot: An International Journal 45(1), 23–33 (2018) Hashemi et al. [2011] Hashemi, E., Jadidi, M.G., Jadidi, N.G.: Model-based pi–fuzzy control of four-wheeled omni-directional mobile robots. Robotics and Autonomous Systems 59(11), 930–942 (2011) Abiyev et al. [2017] Abiyev, R.H., Günsel, I.S., Akkaya, N., Aytac, E., Çağman, A., Abizada, S.: Fuzzy control of omnidirectional robot. Procedia Computer Science 120, 608–616 (2017) Vu et al. [2021] Vu, T.M., Moezzi, R., Cyrus, J., Hlava, J.: Model predictive control for autonomous driving vehicles. Electronics 10(21), 2593 (2021) Maurović et al. [2011] Maurović, I., Baotić, M., Petrović, I.: Explicit model predictive control for trajectory tracking with mobile robots. In: 2011 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), pp. 712–717 (2011). IEEE Liu et al. [2022] Liu, X., Wang, W., Li, X., Liu, F., He, Z., Yao, Y., Ruan, H., Zhang, T.: Mpc-based high-speed trajectory tracking for 4wis robot. ISA transactions 123, 413–424 (2022) Kanjanawanishkul and Zell [2009] Kanjanawanishkul, K., Zell, A.: Path following for an omnidirectional mobile robot based on model predictive control. In: 2009 IEEE International Conference on Robotics and Automation, pp. 3341–3346 (2009). IEEE Yang et al. [2018] Yang, H., Guo, M., Xia, Y., Cheng, L.: Trajectory tracking for wheeled mobile robots via model predictive control with softening constraints. IET Control Theory & Applications 12(2), 206–214 (2018) Nascimento et al. [2018] Nascimento, T.P., Dórea, C.E.T., Gonçalves, L.M.G.: Nonlinear model predictive control for trajectory tracking of nonholonomic mobile robots: A modified approach. International Journal of Advanced Robotic Systems 15(1), 1729881418760461 (2018) Pacheco and Luo [2015] Pacheco, L., Luo, N.: Testing pid and mpc performance for mobile robot local path-following. International Journal of Advanced Robotic Systems 12(11), 155 (2015) Mayne [2014] Mayne, D.Q.: Model predictive control: Recent developments and future promise. Automatica 50(12), 2967–2986 (2014) Bai et al. [2019] Bai, G., Meng, Y., Liu, L., Luo, W., Gu, Q., Liu, L.: Review and comparison of path tracking based on model predictive control. Electronics 8(10), 1077 (2019) Conceição et al. [2007] Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Alouache, A., Wu, Q.: Fuzzy logic pd controller for trajectory tracking of an autonomous differential drive mobile robot (ie quanser qbot). Industrial Robot: An International Journal 45(1), 23–33 (2018) Hashemi et al. [2011] Hashemi, E., Jadidi, M.G., Jadidi, N.G.: Model-based pi–fuzzy control of four-wheeled omni-directional mobile robots. Robotics and Autonomous Systems 59(11), 930–942 (2011) Abiyev et al. [2017] Abiyev, R.H., Günsel, I.S., Akkaya, N., Aytac, E., Çağman, A., Abizada, S.: Fuzzy control of omnidirectional robot. Procedia Computer Science 120, 608–616 (2017) Vu et al. [2021] Vu, T.M., Moezzi, R., Cyrus, J., Hlava, J.: Model predictive control for autonomous driving vehicles. Electronics 10(21), 2593 (2021) Maurović et al. [2011] Maurović, I., Baotić, M., Petrović, I.: Explicit model predictive control for trajectory tracking with mobile robots. In: 2011 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), pp. 712–717 (2011). IEEE Liu et al. [2022] Liu, X., Wang, W., Li, X., Liu, F., He, Z., Yao, Y., Ruan, H., Zhang, T.: Mpc-based high-speed trajectory tracking for 4wis robot. ISA transactions 123, 413–424 (2022) Kanjanawanishkul and Zell [2009] Kanjanawanishkul, K., Zell, A.: Path following for an omnidirectional mobile robot based on model predictive control. In: 2009 IEEE International Conference on Robotics and Automation, pp. 3341–3346 (2009). IEEE Yang et al. [2018] Yang, H., Guo, M., Xia, Y., Cheng, L.: Trajectory tracking for wheeled mobile robots via model predictive control with softening constraints. IET Control Theory & Applications 12(2), 206–214 (2018) Nascimento et al. [2018] Nascimento, T.P., Dórea, C.E.T., Gonçalves, L.M.G.: Nonlinear model predictive control for trajectory tracking of nonholonomic mobile robots: A modified approach. International Journal of Advanced Robotic Systems 15(1), 1729881418760461 (2018) Pacheco and Luo [2015] Pacheco, L., Luo, N.: Testing pid and mpc performance for mobile robot local path-following. International Journal of Advanced Robotic Systems 12(11), 155 (2015) Mayne [2014] Mayne, D.Q.: Model predictive control: Recent developments and future promise. Automatica 50(12), 2967–2986 (2014) Bai et al. [2019] Bai, G., Meng, Y., Liu, L., Luo, W., Gu, Q., Liu, L.: Review and comparison of path tracking based on model predictive control. Electronics 8(10), 1077 (2019) Conceição et al. [2007] Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Hashemi, E., Jadidi, M.G., Jadidi, N.G.: Model-based pi–fuzzy control of four-wheeled omni-directional mobile robots. Robotics and Autonomous Systems 59(11), 930–942 (2011) Abiyev et al. [2017] Abiyev, R.H., Günsel, I.S., Akkaya, N., Aytac, E., Çağman, A., Abizada, S.: Fuzzy control of omnidirectional robot. Procedia Computer Science 120, 608–616 (2017) Vu et al. [2021] Vu, T.M., Moezzi, R., Cyrus, J., Hlava, J.: Model predictive control for autonomous driving vehicles. Electronics 10(21), 2593 (2021) Maurović et al. [2011] Maurović, I., Baotić, M., Petrović, I.: Explicit model predictive control for trajectory tracking with mobile robots. In: 2011 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), pp. 712–717 (2011). IEEE Liu et al. [2022] Liu, X., Wang, W., Li, X., Liu, F., He, Z., Yao, Y., Ruan, H., Zhang, T.: Mpc-based high-speed trajectory tracking for 4wis robot. ISA transactions 123, 413–424 (2022) Kanjanawanishkul and Zell [2009] Kanjanawanishkul, K., Zell, A.: Path following for an omnidirectional mobile robot based on model predictive control. In: 2009 IEEE International Conference on Robotics and Automation, pp. 3341–3346 (2009). IEEE Yang et al. [2018] Yang, H., Guo, M., Xia, Y., Cheng, L.: Trajectory tracking for wheeled mobile robots via model predictive control with softening constraints. IET Control Theory & Applications 12(2), 206–214 (2018) Nascimento et al. [2018] Nascimento, T.P., Dórea, C.E.T., Gonçalves, L.M.G.: Nonlinear model predictive control for trajectory tracking of nonholonomic mobile robots: A modified approach. International Journal of Advanced Robotic Systems 15(1), 1729881418760461 (2018) Pacheco and Luo [2015] Pacheco, L., Luo, N.: Testing pid and mpc performance for mobile robot local path-following. International Journal of Advanced Robotic Systems 12(11), 155 (2015) Mayne [2014] Mayne, D.Q.: Model predictive control: Recent developments and future promise. Automatica 50(12), 2967–2986 (2014) Bai et al. [2019] Bai, G., Meng, Y., Liu, L., Luo, W., Gu, Q., Liu, L.: Review and comparison of path tracking based on model predictive control. Electronics 8(10), 1077 (2019) Conceição et al. [2007] Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Abiyev, R.H., Günsel, I.S., Akkaya, N., Aytac, E., Çağman, A., Abizada, S.: Fuzzy control of omnidirectional robot. Procedia Computer Science 120, 608–616 (2017) Vu et al. [2021] Vu, T.M., Moezzi, R., Cyrus, J., Hlava, J.: Model predictive control for autonomous driving vehicles. Electronics 10(21), 2593 (2021) Maurović et al. [2011] Maurović, I., Baotić, M., Petrović, I.: Explicit model predictive control for trajectory tracking with mobile robots. In: 2011 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), pp. 712–717 (2011). IEEE Liu et al. [2022] Liu, X., Wang, W., Li, X., Liu, F., He, Z., Yao, Y., Ruan, H., Zhang, T.: Mpc-based high-speed trajectory tracking for 4wis robot. ISA transactions 123, 413–424 (2022) Kanjanawanishkul and Zell [2009] Kanjanawanishkul, K., Zell, A.: Path following for an omnidirectional mobile robot based on model predictive control. In: 2009 IEEE International Conference on Robotics and Automation, pp. 3341–3346 (2009). IEEE Yang et al. [2018] Yang, H., Guo, M., Xia, Y., Cheng, L.: Trajectory tracking for wheeled mobile robots via model predictive control with softening constraints. IET Control Theory & Applications 12(2), 206–214 (2018) Nascimento et al. [2018] Nascimento, T.P., Dórea, C.E.T., Gonçalves, L.M.G.: Nonlinear model predictive control for trajectory tracking of nonholonomic mobile robots: A modified approach. International Journal of Advanced Robotic Systems 15(1), 1729881418760461 (2018) Pacheco and Luo [2015] Pacheco, L., Luo, N.: Testing pid and mpc performance for mobile robot local path-following. International Journal of Advanced Robotic Systems 12(11), 155 (2015) Mayne [2014] Mayne, D.Q.: Model predictive control: Recent developments and future promise. Automatica 50(12), 2967–2986 (2014) Bai et al. [2019] Bai, G., Meng, Y., Liu, L., Luo, W., Gu, Q., Liu, L.: Review and comparison of path tracking based on model predictive control. Electronics 8(10), 1077 (2019) Conceição et al. [2007] Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Vu, T.M., Moezzi, R., Cyrus, J., Hlava, J.: Model predictive control for autonomous driving vehicles. Electronics 10(21), 2593 (2021) Maurović et al. [2011] Maurović, I., Baotić, M., Petrović, I.: Explicit model predictive control for trajectory tracking with mobile robots. In: 2011 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), pp. 712–717 (2011). IEEE Liu et al. [2022] Liu, X., Wang, W., Li, X., Liu, F., He, Z., Yao, Y., Ruan, H., Zhang, T.: Mpc-based high-speed trajectory tracking for 4wis robot. ISA transactions 123, 413–424 (2022) Kanjanawanishkul and Zell [2009] Kanjanawanishkul, K., Zell, A.: Path following for an omnidirectional mobile robot based on model predictive control. In: 2009 IEEE International Conference on Robotics and Automation, pp. 3341–3346 (2009). IEEE Yang et al. [2018] Yang, H., Guo, M., Xia, Y., Cheng, L.: Trajectory tracking for wheeled mobile robots via model predictive control with softening constraints. IET Control Theory & Applications 12(2), 206–214 (2018) Nascimento et al. [2018] Nascimento, T.P., Dórea, C.E.T., Gonçalves, L.M.G.: Nonlinear model predictive control for trajectory tracking of nonholonomic mobile robots: A modified approach. International Journal of Advanced Robotic Systems 15(1), 1729881418760461 (2018) Pacheco and Luo [2015] Pacheco, L., Luo, N.: Testing pid and mpc performance for mobile robot local path-following. International Journal of Advanced Robotic Systems 12(11), 155 (2015) Mayne [2014] Mayne, D.Q.: Model predictive control: Recent developments and future promise. Automatica 50(12), 2967–2986 (2014) Bai et al. [2019] Bai, G., Meng, Y., Liu, L., Luo, W., Gu, Q., Liu, L.: Review and comparison of path tracking based on model predictive control. Electronics 8(10), 1077 (2019) Conceição et al. [2007] Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Maurović, I., Baotić, M., Petrović, I.: Explicit model predictive control for trajectory tracking with mobile robots. In: 2011 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), pp. 712–717 (2011). IEEE Liu et al. [2022] Liu, X., Wang, W., Li, X., Liu, F., He, Z., Yao, Y., Ruan, H., Zhang, T.: Mpc-based high-speed trajectory tracking for 4wis robot. ISA transactions 123, 413–424 (2022) Kanjanawanishkul and Zell [2009] Kanjanawanishkul, K., Zell, A.: Path following for an omnidirectional mobile robot based on model predictive control. In: 2009 IEEE International Conference on Robotics and Automation, pp. 3341–3346 (2009). IEEE Yang et al. [2018] Yang, H., Guo, M., Xia, Y., Cheng, L.: Trajectory tracking for wheeled mobile robots via model predictive control with softening constraints. IET Control Theory & Applications 12(2), 206–214 (2018) Nascimento et al. [2018] Nascimento, T.P., Dórea, C.E.T., Gonçalves, L.M.G.: Nonlinear model predictive control for trajectory tracking of nonholonomic mobile robots: A modified approach. International Journal of Advanced Robotic Systems 15(1), 1729881418760461 (2018) Pacheco and Luo [2015] Pacheco, L., Luo, N.: Testing pid and mpc performance for mobile robot local path-following. International Journal of Advanced Robotic Systems 12(11), 155 (2015) Mayne [2014] Mayne, D.Q.: Model predictive control: Recent developments and future promise. Automatica 50(12), 2967–2986 (2014) Bai et al. [2019] Bai, G., Meng, Y., Liu, L., Luo, W., Gu, Q., Liu, L.: Review and comparison of path tracking based on model predictive control. Electronics 8(10), 1077 (2019) Conceição et al. [2007] Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Liu, X., Wang, W., Li, X., Liu, F., He, Z., Yao, Y., Ruan, H., Zhang, T.: Mpc-based high-speed trajectory tracking for 4wis robot. ISA transactions 123, 413–424 (2022) Kanjanawanishkul and Zell [2009] Kanjanawanishkul, K., Zell, A.: Path following for an omnidirectional mobile robot based on model predictive control. In: 2009 IEEE International Conference on Robotics and Automation, pp. 3341–3346 (2009). IEEE Yang et al. [2018] Yang, H., Guo, M., Xia, Y., Cheng, L.: Trajectory tracking for wheeled mobile robots via model predictive control with softening constraints. IET Control Theory & Applications 12(2), 206–214 (2018) Nascimento et al. [2018] Nascimento, T.P., Dórea, C.E.T., Gonçalves, L.M.G.: Nonlinear model predictive control for trajectory tracking of nonholonomic mobile robots: A modified approach. International Journal of Advanced Robotic Systems 15(1), 1729881418760461 (2018) Pacheco and Luo [2015] Pacheco, L., Luo, N.: Testing pid and mpc performance for mobile robot local path-following. International Journal of Advanced Robotic Systems 12(11), 155 (2015) Mayne [2014] Mayne, D.Q.: Model predictive control: Recent developments and future promise. Automatica 50(12), 2967–2986 (2014) Bai et al. [2019] Bai, G., Meng, Y., Liu, L., Luo, W., Gu, Q., Liu, L.: Review and comparison of path tracking based on model predictive control. Electronics 8(10), 1077 (2019) Conceição et al. [2007] Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Kanjanawanishkul, K., Zell, A.: Path following for an omnidirectional mobile robot based on model predictive control. In: 2009 IEEE International Conference on Robotics and Automation, pp. 3341–3346 (2009). IEEE Yang et al. [2018] Yang, H., Guo, M., Xia, Y., Cheng, L.: Trajectory tracking for wheeled mobile robots via model predictive control with softening constraints. IET Control Theory & Applications 12(2), 206–214 (2018) Nascimento et al. [2018] Nascimento, T.P., Dórea, C.E.T., Gonçalves, L.M.G.: Nonlinear model predictive control for trajectory tracking of nonholonomic mobile robots: A modified approach. International Journal of Advanced Robotic Systems 15(1), 1729881418760461 (2018) Pacheco and Luo [2015] Pacheco, L., Luo, N.: Testing pid and mpc performance for mobile robot local path-following. International Journal of Advanced Robotic Systems 12(11), 155 (2015) Mayne [2014] Mayne, D.Q.: Model predictive control: Recent developments and future promise. Automatica 50(12), 2967–2986 (2014) Bai et al. [2019] Bai, G., Meng, Y., Liu, L., Luo, W., Gu, Q., Liu, L.: Review and comparison of path tracking based on model predictive control. Electronics 8(10), 1077 (2019) Conceição et al. [2007] Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Yang, H., Guo, M., Xia, Y., Cheng, L.: Trajectory tracking for wheeled mobile robots via model predictive control with softening constraints. IET Control Theory & Applications 12(2), 206–214 (2018) Nascimento et al. [2018] Nascimento, T.P., Dórea, C.E.T., Gonçalves, L.M.G.: Nonlinear model predictive control for trajectory tracking of nonholonomic mobile robots: A modified approach. International Journal of Advanced Robotic Systems 15(1), 1729881418760461 (2018) Pacheco and Luo [2015] Pacheco, L., Luo, N.: Testing pid and mpc performance for mobile robot local path-following. International Journal of Advanced Robotic Systems 12(11), 155 (2015) Mayne [2014] Mayne, D.Q.: Model predictive control: Recent developments and future promise. Automatica 50(12), 2967–2986 (2014) Bai et al. [2019] Bai, G., Meng, Y., Liu, L., Luo, W., Gu, Q., Liu, L.: Review and comparison of path tracking based on model predictive control. Electronics 8(10), 1077 (2019) Conceição et al. [2007] Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Nascimento, T.P., Dórea, C.E.T., Gonçalves, L.M.G.: Nonlinear model predictive control for trajectory tracking of nonholonomic mobile robots: A modified approach. International Journal of Advanced Robotic Systems 15(1), 1729881418760461 (2018) Pacheco and Luo [2015] Pacheco, L., Luo, N.: Testing pid and mpc performance for mobile robot local path-following. International Journal of Advanced Robotic Systems 12(11), 155 (2015) Mayne [2014] Mayne, D.Q.: Model predictive control: Recent developments and future promise. Automatica 50(12), 2967–2986 (2014) Bai et al. [2019] Bai, G., Meng, Y., Liu, L., Luo, W., Gu, Q., Liu, L.: Review and comparison of path tracking based on model predictive control. Electronics 8(10), 1077 (2019) Conceição et al. [2007] Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Pacheco, L., Luo, N.: Testing pid and mpc performance for mobile robot local path-following. International Journal of Advanced Robotic Systems 12(11), 155 (2015) Mayne [2014] Mayne, D.Q.: Model predictive control: Recent developments and future promise. Automatica 50(12), 2967–2986 (2014) Bai et al. [2019] Bai, G., Meng, Y., Liu, L., Luo, W., Gu, Q., Liu, L.: Review and comparison of path tracking based on model predictive control. Electronics 8(10), 1077 (2019) Conceição et al. [2007] Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Mayne, D.Q.: Model predictive control: Recent developments and future promise. Automatica 50(12), 2967–2986 (2014) Bai et al. [2019] Bai, G., Meng, Y., Liu, L., Luo, W., Gu, Q., Liu, L.: Review and comparison of path tracking based on model predictive control. Electronics 8(10), 1077 (2019) Conceição et al. [2007] Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Bai, G., Meng, Y., Liu, L., Luo, W., Gu, Q., Liu, L.: Review and comparison of path tracking based on model predictive control. Electronics 8(10), 1077 (2019) Conceição et al. [2007] Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. 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[2018] Nascimento, T.P., Dórea, C.E.T., Gonçalves, L.M.G.: Nonlinear model predictive control for trajectory tracking of nonholonomic mobile robots: A modified approach. International Journal of Advanced Robotic Systems 15(1), 1729881418760461 (2018) Pacheco and Luo [2015] Pacheco, L., Luo, N.: Testing pid and mpc performance for mobile robot local path-following. International Journal of Advanced Robotic Systems 12(11), 155 (2015) Mayne [2014] Mayne, D.Q.: Model predictive control: Recent developments and future promise. Automatica 50(12), 2967–2986 (2014) Bai et al. [2019] Bai, G., Meng, Y., Liu, L., Luo, W., Gu, Q., Liu, L.: Review and comparison of path tracking based on model predictive control. Electronics 8(10), 1077 (2019) Conceição et al. [2007] Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Hashemi, E., Jadidi, M.G., Jadidi, N.G.: Model-based pi–fuzzy control of four-wheeled omni-directional mobile robots. Robotics and Autonomous Systems 59(11), 930–942 (2011) Abiyev et al. [2017] Abiyev, R.H., Günsel, I.S., Akkaya, N., Aytac, E., Çağman, A., Abizada, S.: Fuzzy control of omnidirectional robot. Procedia Computer Science 120, 608–616 (2017) Vu et al. [2021] Vu, T.M., Moezzi, R., Cyrus, J., Hlava, J.: Model predictive control for autonomous driving vehicles. Electronics 10(21), 2593 (2021) Maurović et al. [2011] Maurović, I., Baotić, M., Petrović, I.: Explicit model predictive control for trajectory tracking with mobile robots. In: 2011 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), pp. 712–717 (2011). IEEE Liu et al. [2022] Liu, X., Wang, W., Li, X., Liu, F., He, Z., Yao, Y., Ruan, H., Zhang, T.: Mpc-based high-speed trajectory tracking for 4wis robot. ISA transactions 123, 413–424 (2022) Kanjanawanishkul and Zell [2009] Kanjanawanishkul, K., Zell, A.: Path following for an omnidirectional mobile robot based on model predictive control. In: 2009 IEEE International Conference on Robotics and Automation, pp. 3341–3346 (2009). IEEE Yang et al. [2018] Yang, H., Guo, M., Xia, Y., Cheng, L.: Trajectory tracking for wheeled mobile robots via model predictive control with softening constraints. IET Control Theory & Applications 12(2), 206–214 (2018) Nascimento et al. [2018] Nascimento, T.P., Dórea, C.E.T., Gonçalves, L.M.G.: Nonlinear model predictive control for trajectory tracking of nonholonomic mobile robots: A modified approach. International Journal of Advanced Robotic Systems 15(1), 1729881418760461 (2018) Pacheco and Luo [2015] Pacheco, L., Luo, N.: Testing pid and mpc performance for mobile robot local path-following. International Journal of Advanced Robotic Systems 12(11), 155 (2015) Mayne [2014] Mayne, D.Q.: Model predictive control: Recent developments and future promise. Automatica 50(12), 2967–2986 (2014) Bai et al. [2019] Bai, G., Meng, Y., Liu, L., Luo, W., Gu, Q., Liu, L.: Review and comparison of path tracking based on model predictive control. Electronics 8(10), 1077 (2019) Conceição et al. [2007] Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Abiyev, R.H., Günsel, I.S., Akkaya, N., Aytac, E., Çağman, A., Abizada, S.: Fuzzy control of omnidirectional robot. Procedia Computer Science 120, 608–616 (2017) Vu et al. [2021] Vu, T.M., Moezzi, R., Cyrus, J., Hlava, J.: Model predictive control for autonomous driving vehicles. Electronics 10(21), 2593 (2021) Maurović et al. [2011] Maurović, I., Baotić, M., Petrović, I.: Explicit model predictive control for trajectory tracking with mobile robots. In: 2011 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), pp. 712–717 (2011). IEEE Liu et al. [2022] Liu, X., Wang, W., Li, X., Liu, F., He, Z., Yao, Y., Ruan, H., Zhang, T.: Mpc-based high-speed trajectory tracking for 4wis robot. ISA transactions 123, 413–424 (2022) Kanjanawanishkul and Zell [2009] Kanjanawanishkul, K., Zell, A.: Path following for an omnidirectional mobile robot based on model predictive control. In: 2009 IEEE International Conference on Robotics and Automation, pp. 3341–3346 (2009). IEEE Yang et al. [2018] Yang, H., Guo, M., Xia, Y., Cheng, L.: Trajectory tracking for wheeled mobile robots via model predictive control with softening constraints. IET Control Theory & Applications 12(2), 206–214 (2018) Nascimento et al. [2018] Nascimento, T.P., Dórea, C.E.T., Gonçalves, L.M.G.: Nonlinear model predictive control for trajectory tracking of nonholonomic mobile robots: A modified approach. International Journal of Advanced Robotic Systems 15(1), 1729881418760461 (2018) Pacheco and Luo [2015] Pacheco, L., Luo, N.: Testing pid and mpc performance for mobile robot local path-following. International Journal of Advanced Robotic Systems 12(11), 155 (2015) Mayne [2014] Mayne, D.Q.: Model predictive control: Recent developments and future promise. Automatica 50(12), 2967–2986 (2014) Bai et al. [2019] Bai, G., Meng, Y., Liu, L., Luo, W., Gu, Q., Liu, L.: Review and comparison of path tracking based on model predictive control. Electronics 8(10), 1077 (2019) Conceição et al. [2007] Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Vu, T.M., Moezzi, R., Cyrus, J., Hlava, J.: Model predictive control for autonomous driving vehicles. Electronics 10(21), 2593 (2021) Maurović et al. [2011] Maurović, I., Baotić, M., Petrović, I.: Explicit model predictive control for trajectory tracking with mobile robots. In: 2011 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), pp. 712–717 (2011). IEEE Liu et al. [2022] Liu, X., Wang, W., Li, X., Liu, F., He, Z., Yao, Y., Ruan, H., Zhang, T.: Mpc-based high-speed trajectory tracking for 4wis robot. ISA transactions 123, 413–424 (2022) Kanjanawanishkul and Zell [2009] Kanjanawanishkul, K., Zell, A.: Path following for an omnidirectional mobile robot based on model predictive control. In: 2009 IEEE International Conference on Robotics and Automation, pp. 3341–3346 (2009). IEEE Yang et al. [2018] Yang, H., Guo, M., Xia, Y., Cheng, L.: Trajectory tracking for wheeled mobile robots via model predictive control with softening constraints. IET Control Theory & Applications 12(2), 206–214 (2018) Nascimento et al. [2018] Nascimento, T.P., Dórea, C.E.T., Gonçalves, L.M.G.: Nonlinear model predictive control for trajectory tracking of nonholonomic mobile robots: A modified approach. International Journal of Advanced Robotic Systems 15(1), 1729881418760461 (2018) Pacheco and Luo [2015] Pacheco, L., Luo, N.: Testing pid and mpc performance for mobile robot local path-following. International Journal of Advanced Robotic Systems 12(11), 155 (2015) Mayne [2014] Mayne, D.Q.: Model predictive control: Recent developments and future promise. Automatica 50(12), 2967–2986 (2014) Bai et al. [2019] Bai, G., Meng, Y., Liu, L., Luo, W., Gu, Q., Liu, L.: Review and comparison of path tracking based on model predictive control. Electronics 8(10), 1077 (2019) Conceição et al. [2007] Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Maurović, I., Baotić, M., Petrović, I.: Explicit model predictive control for trajectory tracking with mobile robots. In: 2011 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), pp. 712–717 (2011). IEEE Liu et al. [2022] Liu, X., Wang, W., Li, X., Liu, F., He, Z., Yao, Y., Ruan, H., Zhang, T.: Mpc-based high-speed trajectory tracking for 4wis robot. ISA transactions 123, 413–424 (2022) Kanjanawanishkul and Zell [2009] Kanjanawanishkul, K., Zell, A.: Path following for an omnidirectional mobile robot based on model predictive control. In: 2009 IEEE International Conference on Robotics and Automation, pp. 3341–3346 (2009). IEEE Yang et al. [2018] Yang, H., Guo, M., Xia, Y., Cheng, L.: Trajectory tracking for wheeled mobile robots via model predictive control with softening constraints. IET Control Theory & Applications 12(2), 206–214 (2018) Nascimento et al. [2018] Nascimento, T.P., Dórea, C.E.T., Gonçalves, L.M.G.: Nonlinear model predictive control for trajectory tracking of nonholonomic mobile robots: A modified approach. International Journal of Advanced Robotic Systems 15(1), 1729881418760461 (2018) Pacheco and Luo [2015] Pacheco, L., Luo, N.: Testing pid and mpc performance for mobile robot local path-following. International Journal of Advanced Robotic Systems 12(11), 155 (2015) Mayne [2014] Mayne, D.Q.: Model predictive control: Recent developments and future promise. Automatica 50(12), 2967–2986 (2014) Bai et al. [2019] Bai, G., Meng, Y., Liu, L., Luo, W., Gu, Q., Liu, L.: Review and comparison of path tracking based on model predictive control. Electronics 8(10), 1077 (2019) Conceição et al. [2007] Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Liu, X., Wang, W., Li, X., Liu, F., He, Z., Yao, Y., Ruan, H., Zhang, T.: Mpc-based high-speed trajectory tracking for 4wis robot. ISA transactions 123, 413–424 (2022) Kanjanawanishkul and Zell [2009] Kanjanawanishkul, K., Zell, A.: Path following for an omnidirectional mobile robot based on model predictive control. In: 2009 IEEE International Conference on Robotics and Automation, pp. 3341–3346 (2009). IEEE Yang et al. [2018] Yang, H., Guo, M., Xia, Y., Cheng, L.: Trajectory tracking for wheeled mobile robots via model predictive control with softening constraints. IET Control Theory & Applications 12(2), 206–214 (2018) Nascimento et al. [2018] Nascimento, T.P., Dórea, C.E.T., Gonçalves, L.M.G.: Nonlinear model predictive control for trajectory tracking of nonholonomic mobile robots: A modified approach. International Journal of Advanced Robotic Systems 15(1), 1729881418760461 (2018) Pacheco and Luo [2015] Pacheco, L., Luo, N.: Testing pid and mpc performance for mobile robot local path-following. International Journal of Advanced Robotic Systems 12(11), 155 (2015) Mayne [2014] Mayne, D.Q.: Model predictive control: Recent developments and future promise. Automatica 50(12), 2967–2986 (2014) Bai et al. [2019] Bai, G., Meng, Y., Liu, L., Luo, W., Gu, Q., Liu, L.: Review and comparison of path tracking based on model predictive control. Electronics 8(10), 1077 (2019) Conceição et al. [2007] Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Kanjanawanishkul, K., Zell, A.: Path following for an omnidirectional mobile robot based on model predictive control. In: 2009 IEEE International Conference on Robotics and Automation, pp. 3341–3346 (2009). IEEE Yang et al. [2018] Yang, H., Guo, M., Xia, Y., Cheng, L.: Trajectory tracking for wheeled mobile robots via model predictive control with softening constraints. IET Control Theory & Applications 12(2), 206–214 (2018) Nascimento et al. [2018] Nascimento, T.P., Dórea, C.E.T., Gonçalves, L.M.G.: Nonlinear model predictive control for trajectory tracking of nonholonomic mobile robots: A modified approach. International Journal of Advanced Robotic Systems 15(1), 1729881418760461 (2018) Pacheco and Luo [2015] Pacheco, L., Luo, N.: Testing pid and mpc performance for mobile robot local path-following. International Journal of Advanced Robotic Systems 12(11), 155 (2015) Mayne [2014] Mayne, D.Q.: Model predictive control: Recent developments and future promise. Automatica 50(12), 2967–2986 (2014) Bai et al. [2019] Bai, G., Meng, Y., Liu, L., Luo, W., Gu, Q., Liu, L.: Review and comparison of path tracking based on model predictive control. Electronics 8(10), 1077 (2019) Conceição et al. [2007] Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Yang, H., Guo, M., Xia, Y., Cheng, L.: Trajectory tracking for wheeled mobile robots via model predictive control with softening constraints. IET Control Theory & Applications 12(2), 206–214 (2018) Nascimento et al. [2018] Nascimento, T.P., Dórea, C.E.T., Gonçalves, L.M.G.: Nonlinear model predictive control for trajectory tracking of nonholonomic mobile robots: A modified approach. International Journal of Advanced Robotic Systems 15(1), 1729881418760461 (2018) Pacheco and Luo [2015] Pacheco, L., Luo, N.: Testing pid and mpc performance for mobile robot local path-following. International Journal of Advanced Robotic Systems 12(11), 155 (2015) Mayne [2014] Mayne, D.Q.: Model predictive control: Recent developments and future promise. Automatica 50(12), 2967–2986 (2014) Bai et al. [2019] Bai, G., Meng, Y., Liu, L., Luo, W., Gu, Q., Liu, L.: Review and comparison of path tracking based on model predictive control. Electronics 8(10), 1077 (2019) Conceição et al. [2007] Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Nascimento, T.P., Dórea, C.E.T., Gonçalves, L.M.G.: Nonlinear model predictive control for trajectory tracking of nonholonomic mobile robots: A modified approach. International Journal of Advanced Robotic Systems 15(1), 1729881418760461 (2018) Pacheco and Luo [2015] Pacheco, L., Luo, N.: Testing pid and mpc performance for mobile robot local path-following. International Journal of Advanced Robotic Systems 12(11), 155 (2015) Mayne [2014] Mayne, D.Q.: Model predictive control: Recent developments and future promise. Automatica 50(12), 2967–2986 (2014) Bai et al. [2019] Bai, G., Meng, Y., Liu, L., Luo, W., Gu, Q., Liu, L.: Review and comparison of path tracking based on model predictive control. Electronics 8(10), 1077 (2019) Conceição et al. [2007] Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Pacheco, L., Luo, N.: Testing pid and mpc performance for mobile robot local path-following. International Journal of Advanced Robotic Systems 12(11), 155 (2015) Mayne [2014] Mayne, D.Q.: Model predictive control: Recent developments and future promise. Automatica 50(12), 2967–2986 (2014) Bai et al. [2019] Bai, G., Meng, Y., Liu, L., Luo, W., Gu, Q., Liu, L.: Review and comparison of path tracking based on model predictive control. Electronics 8(10), 1077 (2019) Conceição et al. [2007] Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Mayne, D.Q.: Model predictive control: Recent developments and future promise. Automatica 50(12), 2967–2986 (2014) Bai et al. [2019] Bai, G., Meng, Y., Liu, L., Luo, W., Gu, Q., Liu, L.: Review and comparison of path tracking based on model predictive control. Electronics 8(10), 1077 (2019) Conceição et al. [2007] Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Bai, G., Meng, Y., Liu, L., Luo, W., Gu, Q., Liu, L.: Review and comparison of path tracking based on model predictive control. Electronics 8(10), 1077 (2019) Conceição et al. [2007] Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019)
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[2022] Liu, X., Wang, W., Li, X., Liu, F., He, Z., Yao, Y., Ruan, H., Zhang, T.: Mpc-based high-speed trajectory tracking for 4wis robot. ISA transactions 123, 413–424 (2022) Kanjanawanishkul and Zell [2009] Kanjanawanishkul, K., Zell, A.: Path following for an omnidirectional mobile robot based on model predictive control. In: 2009 IEEE International Conference on Robotics and Automation, pp. 3341–3346 (2009). IEEE Yang et al. [2018] Yang, H., Guo, M., Xia, Y., Cheng, L.: Trajectory tracking for wheeled mobile robots via model predictive control with softening constraints. IET Control Theory & Applications 12(2), 206–214 (2018) Nascimento et al. [2018] Nascimento, T.P., Dórea, C.E.T., Gonçalves, L.M.G.: Nonlinear model predictive control for trajectory tracking of nonholonomic mobile robots: A modified approach. International Journal of Advanced Robotic Systems 15(1), 1729881418760461 (2018) Pacheco and Luo [2015] Pacheco, L., Luo, N.: Testing pid and mpc performance for mobile robot local path-following. International Journal of Advanced Robotic Systems 12(11), 155 (2015) Mayne [2014] Mayne, D.Q.: Model predictive control: Recent developments and future promise. Automatica 50(12), 2967–2986 (2014) Bai et al. [2019] Bai, G., Meng, Y., Liu, L., Luo, W., Gu, Q., Liu, L.: Review and comparison of path tracking based on model predictive control. Electronics 8(10), 1077 (2019) Conceição et al. [2007] Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Hashemi, E., Jadidi, M.G., Jadidi, N.G.: Model-based pi–fuzzy control of four-wheeled omni-directional mobile robots. Robotics and Autonomous Systems 59(11), 930–942 (2011) Abiyev et al. [2017] Abiyev, R.H., Günsel, I.S., Akkaya, N., Aytac, E., Çağman, A., Abizada, S.: Fuzzy control of omnidirectional robot. Procedia Computer Science 120, 608–616 (2017) Vu et al. [2021] Vu, T.M., Moezzi, R., Cyrus, J., Hlava, J.: Model predictive control for autonomous driving vehicles. Electronics 10(21), 2593 (2021) Maurović et al. [2011] Maurović, I., Baotić, M., Petrović, I.: Explicit model predictive control for trajectory tracking with mobile robots. In: 2011 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), pp. 712–717 (2011). IEEE Liu et al. [2022] Liu, X., Wang, W., Li, X., Liu, F., He, Z., Yao, Y., Ruan, H., Zhang, T.: Mpc-based high-speed trajectory tracking for 4wis robot. ISA transactions 123, 413–424 (2022) Kanjanawanishkul and Zell [2009] Kanjanawanishkul, K., Zell, A.: Path following for an omnidirectional mobile robot based on model predictive control. In: 2009 IEEE International Conference on Robotics and Automation, pp. 3341–3346 (2009). IEEE Yang et al. [2018] Yang, H., Guo, M., Xia, Y., Cheng, L.: Trajectory tracking for wheeled mobile robots via model predictive control with softening constraints. IET Control Theory & Applications 12(2), 206–214 (2018) Nascimento et al. [2018] Nascimento, T.P., Dórea, C.E.T., Gonçalves, L.M.G.: Nonlinear model predictive control for trajectory tracking of nonholonomic mobile robots: A modified approach. International Journal of Advanced Robotic Systems 15(1), 1729881418760461 (2018) Pacheco and Luo [2015] Pacheco, L., Luo, N.: Testing pid and mpc performance for mobile robot local path-following. International Journal of Advanced Robotic Systems 12(11), 155 (2015) Mayne [2014] Mayne, D.Q.: Model predictive control: Recent developments and future promise. Automatica 50(12), 2967–2986 (2014) Bai et al. [2019] Bai, G., Meng, Y., Liu, L., Luo, W., Gu, Q., Liu, L.: Review and comparison of path tracking based on model predictive control. Electronics 8(10), 1077 (2019) Conceição et al. [2007] Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. 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In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Maurović, I., Baotić, M., Petrović, I.: Explicit model predictive control for trajectory tracking with mobile robots. In: 2011 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), pp. 712–717 (2011). IEEE Liu et al. [2022] Liu, X., Wang, W., Li, X., Liu, F., He, Z., Yao, Y., Ruan, H., Zhang, T.: Mpc-based high-speed trajectory tracking for 4wis robot. ISA transactions 123, 413–424 (2022) Kanjanawanishkul and Zell [2009] Kanjanawanishkul, K., Zell, A.: Path following for an omnidirectional mobile robot based on model predictive control. In: 2009 IEEE International Conference on Robotics and Automation, pp. 3341–3346 (2009). IEEE Yang et al. [2018] Yang, H., Guo, M., Xia, Y., Cheng, L.: Trajectory tracking for wheeled mobile robots via model predictive control with softening constraints. IET Control Theory & Applications 12(2), 206–214 (2018) Nascimento et al. [2018] Nascimento, T.P., Dórea, C.E.T., Gonçalves, L.M.G.: Nonlinear model predictive control for trajectory tracking of nonholonomic mobile robots: A modified approach. International Journal of Advanced Robotic Systems 15(1), 1729881418760461 (2018) Pacheco and Luo [2015] Pacheco, L., Luo, N.: Testing pid and mpc performance for mobile robot local path-following. International Journal of Advanced Robotic Systems 12(11), 155 (2015) Mayne [2014] Mayne, D.Q.: Model predictive control: Recent developments and future promise. Automatica 50(12), 2967–2986 (2014) Bai et al. [2019] Bai, G., Meng, Y., Liu, L., Luo, W., Gu, Q., Liu, L.: Review and comparison of path tracking based on model predictive control. Electronics 8(10), 1077 (2019) Conceição et al. [2007] Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Liu, X., Wang, W., Li, X., Liu, F., He, Z., Yao, Y., Ruan, H., Zhang, T.: Mpc-based high-speed trajectory tracking for 4wis robot. ISA transactions 123, 413–424 (2022) Kanjanawanishkul and Zell [2009] Kanjanawanishkul, K., Zell, A.: Path following for an omnidirectional mobile robot based on model predictive control. In: 2009 IEEE International Conference on Robotics and Automation, pp. 3341–3346 (2009). IEEE Yang et al. [2018] Yang, H., Guo, M., Xia, Y., Cheng, L.: Trajectory tracking for wheeled mobile robots via model predictive control with softening constraints. IET Control Theory & Applications 12(2), 206–214 (2018) Nascimento et al. [2018] Nascimento, T.P., Dórea, C.E.T., Gonçalves, L.M.G.: Nonlinear model predictive control for trajectory tracking of nonholonomic mobile robots: A modified approach. International Journal of Advanced Robotic Systems 15(1), 1729881418760461 (2018) Pacheco and Luo [2015] Pacheco, L., Luo, N.: Testing pid and mpc performance for mobile robot local path-following. International Journal of Advanced Robotic Systems 12(11), 155 (2015) Mayne [2014] Mayne, D.Q.: Model predictive control: Recent developments and future promise. Automatica 50(12), 2967–2986 (2014) Bai et al. [2019] Bai, G., Meng, Y., Liu, L., Luo, W., Gu, Q., Liu, L.: Review and comparison of path tracking based on model predictive control. Electronics 8(10), 1077 (2019) Conceição et al. [2007] Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Kanjanawanishkul, K., Zell, A.: Path following for an omnidirectional mobile robot based on model predictive control. In: 2009 IEEE International Conference on Robotics and Automation, pp. 3341–3346 (2009). IEEE Yang et al. [2018] Yang, H., Guo, M., Xia, Y., Cheng, L.: Trajectory tracking for wheeled mobile robots via model predictive control with softening constraints. IET Control Theory & Applications 12(2), 206–214 (2018) Nascimento et al. [2018] Nascimento, T.P., Dórea, C.E.T., Gonçalves, L.M.G.: Nonlinear model predictive control for trajectory tracking of nonholonomic mobile robots: A modified approach. International Journal of Advanced Robotic Systems 15(1), 1729881418760461 (2018) Pacheco and Luo [2015] Pacheco, L., Luo, N.: Testing pid and mpc performance for mobile robot local path-following. International Journal of Advanced Robotic Systems 12(11), 155 (2015) Mayne [2014] Mayne, D.Q.: Model predictive control: Recent developments and future promise. Automatica 50(12), 2967–2986 (2014) Bai et al. [2019] Bai, G., Meng, Y., Liu, L., Luo, W., Gu, Q., Liu, L.: Review and comparison of path tracking based on model predictive control. Electronics 8(10), 1077 (2019) Conceição et al. [2007] Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Yang, H., Guo, M., Xia, Y., Cheng, L.: Trajectory tracking for wheeled mobile robots via model predictive control with softening constraints. IET Control Theory & Applications 12(2), 206–214 (2018) Nascimento et al. [2018] Nascimento, T.P., Dórea, C.E.T., Gonçalves, L.M.G.: Nonlinear model predictive control for trajectory tracking of nonholonomic mobile robots: A modified approach. International Journal of Advanced Robotic Systems 15(1), 1729881418760461 (2018) Pacheco and Luo [2015] Pacheco, L., Luo, N.: Testing pid and mpc performance for mobile robot local path-following. International Journal of Advanced Robotic Systems 12(11), 155 (2015) Mayne [2014] Mayne, D.Q.: Model predictive control: Recent developments and future promise. Automatica 50(12), 2967–2986 (2014) Bai et al. 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In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Nascimento, T.P., Dórea, C.E.T., Gonçalves, L.M.G.: Nonlinear model predictive control for trajectory tracking of nonholonomic mobile robots: A modified approach. International Journal of Advanced Robotic Systems 15(1), 1729881418760461 (2018) Pacheco and Luo [2015] Pacheco, L., Luo, N.: Testing pid and mpc performance for mobile robot local path-following. International Journal of Advanced Robotic Systems 12(11), 155 (2015) Mayne [2014] Mayne, D.Q.: Model predictive control: Recent developments and future promise. Automatica 50(12), 2967–2986 (2014) Bai et al. [2019] Bai, G., Meng, Y., Liu, L., Luo, W., Gu, Q., Liu, L.: Review and comparison of path tracking based on model predictive control. Electronics 8(10), 1077 (2019) Conceição et al. [2007] Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Pacheco, L., Luo, N.: Testing pid and mpc performance for mobile robot local path-following. International Journal of Advanced Robotic Systems 12(11), 155 (2015) Mayne [2014] Mayne, D.Q.: Model predictive control: Recent developments and future promise. Automatica 50(12), 2967–2986 (2014) Bai et al. [2019] Bai, G., Meng, Y., Liu, L., Luo, W., Gu, Q., Liu, L.: Review and comparison of path tracking based on model predictive control. Electronics 8(10), 1077 (2019) Conceição et al. [2007] Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Mayne, D.Q.: Model predictive control: Recent developments and future promise. Automatica 50(12), 2967–2986 (2014) Bai et al. [2019] Bai, G., Meng, Y., Liu, L., Luo, W., Gu, Q., Liu, L.: Review and comparison of path tracking based on model predictive control. Electronics 8(10), 1077 (2019) Conceição et al. [2007] Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Bai, G., Meng, Y., Liu, L., Luo, W., Gu, Q., Liu, L.: Review and comparison of path tracking based on model predictive control. Electronics 8(10), 1077 (2019) Conceição et al. [2007] Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019)
- Hashemi, E., Jadidi, M.G., Jadidi, N.G.: Model-based pi–fuzzy control of four-wheeled omni-directional mobile robots. Robotics and Autonomous Systems 59(11), 930–942 (2011) Abiyev et al. [2017] Abiyev, R.H., Günsel, I.S., Akkaya, N., Aytac, E., Çağman, A., Abizada, S.: Fuzzy control of omnidirectional robot. Procedia Computer Science 120, 608–616 (2017) Vu et al. [2021] Vu, T.M., Moezzi, R., Cyrus, J., Hlava, J.: Model predictive control for autonomous driving vehicles. Electronics 10(21), 2593 (2021) Maurović et al. [2011] Maurović, I., Baotić, M., Petrović, I.: Explicit model predictive control for trajectory tracking with mobile robots. In: 2011 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), pp. 712–717 (2011). IEEE Liu et al. [2022] Liu, X., Wang, W., Li, X., Liu, F., He, Z., Yao, Y., Ruan, H., Zhang, T.: Mpc-based high-speed trajectory tracking for 4wis robot. ISA transactions 123, 413–424 (2022) Kanjanawanishkul and Zell [2009] Kanjanawanishkul, K., Zell, A.: Path following for an omnidirectional mobile robot based on model predictive control. In: 2009 IEEE International Conference on Robotics and Automation, pp. 3341–3346 (2009). IEEE Yang et al. [2018] Yang, H., Guo, M., Xia, Y., Cheng, L.: Trajectory tracking for wheeled mobile robots via model predictive control with softening constraints. IET Control Theory & Applications 12(2), 206–214 (2018) Nascimento et al. [2018] Nascimento, T.P., Dórea, C.E.T., Gonçalves, L.M.G.: Nonlinear model predictive control for trajectory tracking of nonholonomic mobile robots: A modified approach. International Journal of Advanced Robotic Systems 15(1), 1729881418760461 (2018) Pacheco and Luo [2015] Pacheco, L., Luo, N.: Testing pid and mpc performance for mobile robot local path-following. International Journal of Advanced Robotic Systems 12(11), 155 (2015) Mayne [2014] Mayne, D.Q.: Model predictive control: Recent developments and future promise. Automatica 50(12), 2967–2986 (2014) Bai et al. [2019] Bai, G., Meng, Y., Liu, L., Luo, W., Gu, Q., Liu, L.: Review and comparison of path tracking based on model predictive control. Electronics 8(10), 1077 (2019) Conceição et al. [2007] Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Abiyev, R.H., Günsel, I.S., Akkaya, N., Aytac, E., Çağman, A., Abizada, S.: Fuzzy control of omnidirectional robot. Procedia Computer Science 120, 608–616 (2017) Vu et al. [2021] Vu, T.M., Moezzi, R., Cyrus, J., Hlava, J.: Model predictive control for autonomous driving vehicles. Electronics 10(21), 2593 (2021) Maurović et al. [2011] Maurović, I., Baotić, M., Petrović, I.: Explicit model predictive control for trajectory tracking with mobile robots. In: 2011 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), pp. 712–717 (2011). IEEE Liu et al. [2022] Liu, X., Wang, W., Li, X., Liu, F., He, Z., Yao, Y., Ruan, H., Zhang, T.: Mpc-based high-speed trajectory tracking for 4wis robot. ISA transactions 123, 413–424 (2022) Kanjanawanishkul and Zell [2009] Kanjanawanishkul, K., Zell, A.: Path following for an omnidirectional mobile robot based on model predictive control. In: 2009 IEEE International Conference on Robotics and Automation, pp. 3341–3346 (2009). IEEE Yang et al. [2018] Yang, H., Guo, M., Xia, Y., Cheng, L.: Trajectory tracking for wheeled mobile robots via model predictive control with softening constraints. IET Control Theory & Applications 12(2), 206–214 (2018) Nascimento et al. [2018] Nascimento, T.P., Dórea, C.E.T., Gonçalves, L.M.G.: Nonlinear model predictive control for trajectory tracking of nonholonomic mobile robots: A modified approach. International Journal of Advanced Robotic Systems 15(1), 1729881418760461 (2018) Pacheco and Luo [2015] Pacheco, L., Luo, N.: Testing pid and mpc performance for mobile robot local path-following. International Journal of Advanced Robotic Systems 12(11), 155 (2015) Mayne [2014] Mayne, D.Q.: Model predictive control: Recent developments and future promise. Automatica 50(12), 2967–2986 (2014) Bai et al. [2019] Bai, G., Meng, Y., Liu, L., Luo, W., Gu, Q., Liu, L.: Review and comparison of path tracking based on model predictive control. Electronics 8(10), 1077 (2019) Conceição et al. [2007] Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Vu, T.M., Moezzi, R., Cyrus, J., Hlava, J.: Model predictive control for autonomous driving vehicles. Electronics 10(21), 2593 (2021) Maurović et al. [2011] Maurović, I., Baotić, M., Petrović, I.: Explicit model predictive control for trajectory tracking with mobile robots. In: 2011 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), pp. 712–717 (2011). IEEE Liu et al. [2022] Liu, X., Wang, W., Li, X., Liu, F., He, Z., Yao, Y., Ruan, H., Zhang, T.: Mpc-based high-speed trajectory tracking for 4wis robot. ISA transactions 123, 413–424 (2022) Kanjanawanishkul and Zell [2009] Kanjanawanishkul, K., Zell, A.: Path following for an omnidirectional mobile robot based on model predictive control. In: 2009 IEEE International Conference on Robotics and Automation, pp. 3341–3346 (2009). IEEE Yang et al. [2018] Yang, H., Guo, M., Xia, Y., Cheng, L.: Trajectory tracking for wheeled mobile robots via model predictive control with softening constraints. IET Control Theory & Applications 12(2), 206–214 (2018) Nascimento et al. [2018] Nascimento, T.P., Dórea, C.E.T., Gonçalves, L.M.G.: Nonlinear model predictive control for trajectory tracking of nonholonomic mobile robots: A modified approach. International Journal of Advanced Robotic Systems 15(1), 1729881418760461 (2018) Pacheco and Luo [2015] Pacheco, L., Luo, N.: Testing pid and mpc performance for mobile robot local path-following. International Journal of Advanced Robotic Systems 12(11), 155 (2015) Mayne [2014] Mayne, D.Q.: Model predictive control: Recent developments and future promise. Automatica 50(12), 2967–2986 (2014) Bai et al. [2019] Bai, G., Meng, Y., Liu, L., Luo, W., Gu, Q., Liu, L.: Review and comparison of path tracking based on model predictive control. Electronics 8(10), 1077 (2019) Conceição et al. [2007] Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Maurović, I., Baotić, M., Petrović, I.: Explicit model predictive control for trajectory tracking with mobile robots. In: 2011 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), pp. 712–717 (2011). IEEE Liu et al. [2022] Liu, X., Wang, W., Li, X., Liu, F., He, Z., Yao, Y., Ruan, H., Zhang, T.: Mpc-based high-speed trajectory tracking for 4wis robot. ISA transactions 123, 413–424 (2022) Kanjanawanishkul and Zell [2009] Kanjanawanishkul, K., Zell, A.: Path following for an omnidirectional mobile robot based on model predictive control. In: 2009 IEEE International Conference on Robotics and Automation, pp. 3341–3346 (2009). IEEE Yang et al. [2018] Yang, H., Guo, M., Xia, Y., Cheng, L.: Trajectory tracking for wheeled mobile robots via model predictive control with softening constraints. IET Control Theory & Applications 12(2), 206–214 (2018) Nascimento et al. [2018] Nascimento, T.P., Dórea, C.E.T., Gonçalves, L.M.G.: Nonlinear model predictive control for trajectory tracking of nonholonomic mobile robots: A modified approach. International Journal of Advanced Robotic Systems 15(1), 1729881418760461 (2018) Pacheco and Luo [2015] Pacheco, L., Luo, N.: Testing pid and mpc performance for mobile robot local path-following. International Journal of Advanced Robotic Systems 12(11), 155 (2015) Mayne [2014] Mayne, D.Q.: Model predictive control: Recent developments and future promise. Automatica 50(12), 2967–2986 (2014) Bai et al. [2019] Bai, G., Meng, Y., Liu, L., Luo, W., Gu, Q., Liu, L.: Review and comparison of path tracking based on model predictive control. Electronics 8(10), 1077 (2019) Conceição et al. [2007] Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Liu, X., Wang, W., Li, X., Liu, F., He, Z., Yao, Y., Ruan, H., Zhang, T.: Mpc-based high-speed trajectory tracking for 4wis robot. ISA transactions 123, 413–424 (2022) Kanjanawanishkul and Zell [2009] Kanjanawanishkul, K., Zell, A.: Path following for an omnidirectional mobile robot based on model predictive control. In: 2009 IEEE International Conference on Robotics and Automation, pp. 3341–3346 (2009). IEEE Yang et al. [2018] Yang, H., Guo, M., Xia, Y., Cheng, L.: Trajectory tracking for wheeled mobile robots via model predictive control with softening constraints. IET Control Theory & Applications 12(2), 206–214 (2018) Nascimento et al. [2018] Nascimento, T.P., Dórea, C.E.T., Gonçalves, L.M.G.: Nonlinear model predictive control for trajectory tracking of nonholonomic mobile robots: A modified approach. International Journal of Advanced Robotic Systems 15(1), 1729881418760461 (2018) Pacheco and Luo [2015] Pacheco, L., Luo, N.: Testing pid and mpc performance for mobile robot local path-following. International Journal of Advanced Robotic Systems 12(11), 155 (2015) Mayne [2014] Mayne, D.Q.: Model predictive control: Recent developments and future promise. Automatica 50(12), 2967–2986 (2014) Bai et al. [2019] Bai, G., Meng, Y., Liu, L., Luo, W., Gu, Q., Liu, L.: Review and comparison of path tracking based on model predictive control. Electronics 8(10), 1077 (2019) Conceição et al. [2007] Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Kanjanawanishkul, K., Zell, A.: Path following for an omnidirectional mobile robot based on model predictive control. In: 2009 IEEE International Conference on Robotics and Automation, pp. 3341–3346 (2009). IEEE Yang et al. [2018] Yang, H., Guo, M., Xia, Y., Cheng, L.: Trajectory tracking for wheeled mobile robots via model predictive control with softening constraints. IET Control Theory & Applications 12(2), 206–214 (2018) Nascimento et al. [2018] Nascimento, T.P., Dórea, C.E.T., Gonçalves, L.M.G.: Nonlinear model predictive control for trajectory tracking of nonholonomic mobile robots: A modified approach. International Journal of Advanced Robotic Systems 15(1), 1729881418760461 (2018) Pacheco and Luo [2015] Pacheco, L., Luo, N.: Testing pid and mpc performance for mobile robot local path-following. International Journal of Advanced Robotic Systems 12(11), 155 (2015) Mayne [2014] Mayne, D.Q.: Model predictive control: Recent developments and future promise. Automatica 50(12), 2967–2986 (2014) Bai et al. [2019] Bai, G., Meng, Y., Liu, L., Luo, W., Gu, Q., Liu, L.: Review and comparison of path tracking based on model predictive control. Electronics 8(10), 1077 (2019) Conceição et al. [2007] Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Yang, H., Guo, M., Xia, Y., Cheng, L.: Trajectory tracking for wheeled mobile robots via model predictive control with softening constraints. IET Control Theory & Applications 12(2), 206–214 (2018) Nascimento et al. [2018] Nascimento, T.P., Dórea, C.E.T., Gonçalves, L.M.G.: Nonlinear model predictive control for trajectory tracking of nonholonomic mobile robots: A modified approach. International Journal of Advanced Robotic Systems 15(1), 1729881418760461 (2018) Pacheco and Luo [2015] Pacheco, L., Luo, N.: Testing pid and mpc performance for mobile robot local path-following. International Journal of Advanced Robotic Systems 12(11), 155 (2015) Mayne [2014] Mayne, D.Q.: Model predictive control: Recent developments and future promise. Automatica 50(12), 2967–2986 (2014) Bai et al. [2019] Bai, G., Meng, Y., Liu, L., Luo, W., Gu, Q., Liu, L.: Review and comparison of path tracking based on model predictive control. Electronics 8(10), 1077 (2019) Conceição et al. [2007] Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Nascimento, T.P., Dórea, C.E.T., Gonçalves, L.M.G.: Nonlinear model predictive control for trajectory tracking of nonholonomic mobile robots: A modified approach. International Journal of Advanced Robotic Systems 15(1), 1729881418760461 (2018) Pacheco and Luo [2015] Pacheco, L., Luo, N.: Testing pid and mpc performance for mobile robot local path-following. International Journal of Advanced Robotic Systems 12(11), 155 (2015) Mayne [2014] Mayne, D.Q.: Model predictive control: Recent developments and future promise. Automatica 50(12), 2967–2986 (2014) Bai et al. [2019] Bai, G., Meng, Y., Liu, L., Luo, W., Gu, Q., Liu, L.: Review and comparison of path tracking based on model predictive control. Electronics 8(10), 1077 (2019) Conceição et al. [2007] Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Pacheco, L., Luo, N.: Testing pid and mpc performance for mobile robot local path-following. International Journal of Advanced Robotic Systems 12(11), 155 (2015) Mayne [2014] Mayne, D.Q.: Model predictive control: Recent developments and future promise. Automatica 50(12), 2967–2986 (2014) Bai et al. [2019] Bai, G., Meng, Y., Liu, L., Luo, W., Gu, Q., Liu, L.: Review and comparison of path tracking based on model predictive control. Electronics 8(10), 1077 (2019) Conceição et al. [2007] Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Mayne, D.Q.: Model predictive control: Recent developments and future promise. Automatica 50(12), 2967–2986 (2014) Bai et al. [2019] Bai, G., Meng, Y., Liu, L., Luo, W., Gu, Q., Liu, L.: Review and comparison of path tracking based on model predictive control. Electronics 8(10), 1077 (2019) Conceição et al. [2007] Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Bai, G., Meng, Y., Liu, L., Luo, W., Gu, Q., Liu, L.: Review and comparison of path tracking based on model predictive control. Electronics 8(10), 1077 (2019) Conceição et al. [2007] Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. 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[2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. 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IEEE Yang et al. [2018] Yang, H., Guo, M., Xia, Y., Cheng, L.: Trajectory tracking for wheeled mobile robots via model predictive control with softening constraints. IET Control Theory & Applications 12(2), 206–214 (2018) Nascimento et al. [2018] Nascimento, T.P., Dórea, C.E.T., Gonçalves, L.M.G.: Nonlinear model predictive control for trajectory tracking of nonholonomic mobile robots: A modified approach. International Journal of Advanced Robotic Systems 15(1), 1729881418760461 (2018) Pacheco and Luo [2015] Pacheco, L., Luo, N.: Testing pid and mpc performance for mobile robot local path-following. International Journal of Advanced Robotic Systems 12(11), 155 (2015) Mayne [2014] Mayne, D.Q.: Model predictive control: Recent developments and future promise. Automatica 50(12), 2967–2986 (2014) Bai et al. [2019] Bai, G., Meng, Y., Liu, L., Luo, W., Gu, Q., Liu, L.: Review and comparison of path tracking based on model predictive control. Electronics 8(10), 1077 (2019) Conceição et al. [2007] Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Vu, T.M., Moezzi, R., Cyrus, J., Hlava, J.: Model predictive control for autonomous driving vehicles. Electronics 10(21), 2593 (2021) Maurović et al. [2011] Maurović, I., Baotić, M., Petrović, I.: Explicit model predictive control for trajectory tracking with mobile robots. In: 2011 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), pp. 712–717 (2011). IEEE Liu et al. [2022] Liu, X., Wang, W., Li, X., Liu, F., He, Z., Yao, Y., Ruan, H., Zhang, T.: Mpc-based high-speed trajectory tracking for 4wis robot. ISA transactions 123, 413–424 (2022) Kanjanawanishkul and Zell [2009] Kanjanawanishkul, K., Zell, A.: Path following for an omnidirectional mobile robot based on model predictive control. In: 2009 IEEE International Conference on Robotics and Automation, pp. 3341–3346 (2009). IEEE Yang et al. [2018] Yang, H., Guo, M., Xia, Y., Cheng, L.: Trajectory tracking for wheeled mobile robots via model predictive control with softening constraints. IET Control Theory & Applications 12(2), 206–214 (2018) Nascimento et al. [2018] Nascimento, T.P., Dórea, C.E.T., Gonçalves, L.M.G.: Nonlinear model predictive control for trajectory tracking of nonholonomic mobile robots: A modified approach. International Journal of Advanced Robotic Systems 15(1), 1729881418760461 (2018) Pacheco and Luo [2015] Pacheco, L., Luo, N.: Testing pid and mpc performance for mobile robot local path-following. International Journal of Advanced Robotic Systems 12(11), 155 (2015) Mayne [2014] Mayne, D.Q.: Model predictive control: Recent developments and future promise. Automatica 50(12), 2967–2986 (2014) Bai et al. [2019] Bai, G., Meng, Y., Liu, L., Luo, W., Gu, Q., Liu, L.: Review and comparison of path tracking based on model predictive control. Electronics 8(10), 1077 (2019) Conceição et al. [2007] Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Maurović, I., Baotić, M., Petrović, I.: Explicit model predictive control for trajectory tracking with mobile robots. In: 2011 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), pp. 712–717 (2011). IEEE Liu et al. [2022] Liu, X., Wang, W., Li, X., Liu, F., He, Z., Yao, Y., Ruan, H., Zhang, T.: Mpc-based high-speed trajectory tracking for 4wis robot. ISA transactions 123, 413–424 (2022) Kanjanawanishkul and Zell [2009] Kanjanawanishkul, K., Zell, A.: Path following for an omnidirectional mobile robot based on model predictive control. In: 2009 IEEE International Conference on Robotics and Automation, pp. 3341–3346 (2009). IEEE Yang et al. [2018] Yang, H., Guo, M., Xia, Y., Cheng, L.: Trajectory tracking for wheeled mobile robots via model predictive control with softening constraints. IET Control Theory & Applications 12(2), 206–214 (2018) Nascimento et al. [2018] Nascimento, T.P., Dórea, C.E.T., Gonçalves, L.M.G.: Nonlinear model predictive control for trajectory tracking of nonholonomic mobile robots: A modified approach. International Journal of Advanced Robotic Systems 15(1), 1729881418760461 (2018) Pacheco and Luo [2015] Pacheco, L., Luo, N.: Testing pid and mpc performance for mobile robot local path-following. International Journal of Advanced Robotic Systems 12(11), 155 (2015) Mayne [2014] Mayne, D.Q.: Model predictive control: Recent developments and future promise. Automatica 50(12), 2967–2986 (2014) Bai et al. [2019] Bai, G., Meng, Y., Liu, L., Luo, W., Gu, Q., Liu, L.: Review and comparison of path tracking based on model predictive control. Electronics 8(10), 1077 (2019) Conceição et al. [2007] Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Liu, X., Wang, W., Li, X., Liu, F., He, Z., Yao, Y., Ruan, H., Zhang, T.: Mpc-based high-speed trajectory tracking for 4wis robot. ISA transactions 123, 413–424 (2022) Kanjanawanishkul and Zell [2009] Kanjanawanishkul, K., Zell, A.: Path following for an omnidirectional mobile robot based on model predictive control. In: 2009 IEEE International Conference on Robotics and Automation, pp. 3341–3346 (2009). IEEE Yang et al. [2018] Yang, H., Guo, M., Xia, Y., Cheng, L.: Trajectory tracking for wheeled mobile robots via model predictive control with softening constraints. IET Control Theory & Applications 12(2), 206–214 (2018) Nascimento et al. [2018] Nascimento, T.P., Dórea, C.E.T., Gonçalves, L.M.G.: Nonlinear model predictive control for trajectory tracking of nonholonomic mobile robots: A modified approach. International Journal of Advanced Robotic Systems 15(1), 1729881418760461 (2018) Pacheco and Luo [2015] Pacheco, L., Luo, N.: Testing pid and mpc performance for mobile robot local path-following. International Journal of Advanced Robotic Systems 12(11), 155 (2015) Mayne [2014] Mayne, D.Q.: Model predictive control: Recent developments and future promise. Automatica 50(12), 2967–2986 (2014) Bai et al. [2019] Bai, G., Meng, Y., Liu, L., Luo, W., Gu, Q., Liu, L.: Review and comparison of path tracking based on model predictive control. Electronics 8(10), 1077 (2019) Conceição et al. [2007] Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Kanjanawanishkul, K., Zell, A.: Path following for an omnidirectional mobile robot based on model predictive control. In: 2009 IEEE International Conference on Robotics and Automation, pp. 3341–3346 (2009). IEEE Yang et al. [2018] Yang, H., Guo, M., Xia, Y., Cheng, L.: Trajectory tracking for wheeled mobile robots via model predictive control with softening constraints. IET Control Theory & Applications 12(2), 206–214 (2018) Nascimento et al. [2018] Nascimento, T.P., Dórea, C.E.T., Gonçalves, L.M.G.: Nonlinear model predictive control for trajectory tracking of nonholonomic mobile robots: A modified approach. International Journal of Advanced Robotic Systems 15(1), 1729881418760461 (2018) Pacheco and Luo [2015] Pacheco, L., Luo, N.: Testing pid and mpc performance for mobile robot local path-following. International Journal of Advanced Robotic Systems 12(11), 155 (2015) Mayne [2014] Mayne, D.Q.: Model predictive control: Recent developments and future promise. Automatica 50(12), 2967–2986 (2014) Bai et al. [2019] Bai, G., Meng, Y., Liu, L., Luo, W., Gu, Q., Liu, L.: Review and comparison of path tracking based on model predictive control. Electronics 8(10), 1077 (2019) Conceição et al. [2007] Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Yang, H., Guo, M., Xia, Y., Cheng, L.: Trajectory tracking for wheeled mobile robots via model predictive control with softening constraints. IET Control Theory & Applications 12(2), 206–214 (2018) Nascimento et al. [2018] Nascimento, T.P., Dórea, C.E.T., Gonçalves, L.M.G.: Nonlinear model predictive control for trajectory tracking of nonholonomic mobile robots: A modified approach. International Journal of Advanced Robotic Systems 15(1), 1729881418760461 (2018) Pacheco and Luo [2015] Pacheco, L., Luo, N.: Testing pid and mpc performance for mobile robot local path-following. International Journal of Advanced Robotic Systems 12(11), 155 (2015) Mayne [2014] Mayne, D.Q.: Model predictive control: Recent developments and future promise. Automatica 50(12), 2967–2986 (2014) Bai et al. [2019] Bai, G., Meng, Y., Liu, L., Luo, W., Gu, Q., Liu, L.: Review and comparison of path tracking based on model predictive control. Electronics 8(10), 1077 (2019) Conceição et al. [2007] Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Nascimento, T.P., Dórea, C.E.T., Gonçalves, L.M.G.: Nonlinear model predictive control for trajectory tracking of nonholonomic mobile robots: A modified approach. International Journal of Advanced Robotic Systems 15(1), 1729881418760461 (2018) Pacheco and Luo [2015] Pacheco, L., Luo, N.: Testing pid and mpc performance for mobile robot local path-following. International Journal of Advanced Robotic Systems 12(11), 155 (2015) Mayne [2014] Mayne, D.Q.: Model predictive control: Recent developments and future promise. Automatica 50(12), 2967–2986 (2014) Bai et al. [2019] Bai, G., Meng, Y., Liu, L., Luo, W., Gu, Q., Liu, L.: Review and comparison of path tracking based on model predictive control. Electronics 8(10), 1077 (2019) Conceição et al. [2007] Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Pacheco, L., Luo, N.: Testing pid and mpc performance for mobile robot local path-following. International Journal of Advanced Robotic Systems 12(11), 155 (2015) Mayne [2014] Mayne, D.Q.: Model predictive control: Recent developments and future promise. Automatica 50(12), 2967–2986 (2014) Bai et al. [2019] Bai, G., Meng, Y., Liu, L., Luo, W., Gu, Q., Liu, L.: Review and comparison of path tracking based on model predictive control. Electronics 8(10), 1077 (2019) Conceição et al. [2007] Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Mayne, D.Q.: Model predictive control: Recent developments and future promise. Automatica 50(12), 2967–2986 (2014) Bai et al. [2019] Bai, G., Meng, Y., Liu, L., Luo, W., Gu, Q., Liu, L.: Review and comparison of path tracking based on model predictive control. Electronics 8(10), 1077 (2019) Conceição et al. [2007] Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Bai, G., Meng, Y., Liu, L., Luo, W., Gu, Q., Liu, L.: Review and comparison of path tracking based on model predictive control. Electronics 8(10), 1077 (2019) Conceição et al. [2007] Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. 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Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019)
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In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Maurović, I., Baotić, M., Petrović, I.: Explicit model predictive control for trajectory tracking with mobile robots. In: 2011 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), pp. 712–717 (2011). IEEE Liu et al. [2022] Liu, X., Wang, W., Li, X., Liu, F., He, Z., Yao, Y., Ruan, H., Zhang, T.: Mpc-based high-speed trajectory tracking for 4wis robot. ISA transactions 123, 413–424 (2022) Kanjanawanishkul and Zell [2009] Kanjanawanishkul, K., Zell, A.: Path following for an omnidirectional mobile robot based on model predictive control. In: 2009 IEEE International Conference on Robotics and Automation, pp. 3341–3346 (2009). IEEE Yang et al. [2018] Yang, H., Guo, M., Xia, Y., Cheng, L.: Trajectory tracking for wheeled mobile robots via model predictive control with softening constraints. IET Control Theory & Applications 12(2), 206–214 (2018) Nascimento et al. [2018] Nascimento, T.P., Dórea, C.E.T., Gonçalves, L.M.G.: Nonlinear model predictive control for trajectory tracking of nonholonomic mobile robots: A modified approach. International Journal of Advanced Robotic Systems 15(1), 1729881418760461 (2018) Pacheco and Luo [2015] Pacheco, L., Luo, N.: Testing pid and mpc performance for mobile robot local path-following. International Journal of Advanced Robotic Systems 12(11), 155 (2015) Mayne [2014] Mayne, D.Q.: Model predictive control: Recent developments and future promise. Automatica 50(12), 2967–2986 (2014) Bai et al. [2019] Bai, G., Meng, Y., Liu, L., Luo, W., Gu, Q., Liu, L.: Review and comparison of path tracking based on model predictive control. Electronics 8(10), 1077 (2019) Conceição et al. [2007] Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Liu, X., Wang, W., Li, X., Liu, F., He, Z., Yao, Y., Ruan, H., Zhang, T.: Mpc-based high-speed trajectory tracking for 4wis robot. ISA transactions 123, 413–424 (2022) Kanjanawanishkul and Zell [2009] Kanjanawanishkul, K., Zell, A.: Path following for an omnidirectional mobile robot based on model predictive control. In: 2009 IEEE International Conference on Robotics and Automation, pp. 3341–3346 (2009). IEEE Yang et al. [2018] Yang, H., Guo, M., Xia, Y., Cheng, L.: Trajectory tracking for wheeled mobile robots via model predictive control with softening constraints. IET Control Theory & Applications 12(2), 206–214 (2018) Nascimento et al. [2018] Nascimento, T.P., Dórea, C.E.T., Gonçalves, L.M.G.: Nonlinear model predictive control for trajectory tracking of nonholonomic mobile robots: A modified approach. International Journal of Advanced Robotic Systems 15(1), 1729881418760461 (2018) Pacheco and Luo [2015] Pacheco, L., Luo, N.: Testing pid and mpc performance for mobile robot local path-following. International Journal of Advanced Robotic Systems 12(11), 155 (2015) Mayne [2014] Mayne, D.Q.: Model predictive control: Recent developments and future promise. Automatica 50(12), 2967–2986 (2014) Bai et al. [2019] Bai, G., Meng, Y., Liu, L., Luo, W., Gu, Q., Liu, L.: Review and comparison of path tracking based on model predictive control. Electronics 8(10), 1077 (2019) Conceição et al. [2007] Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Kanjanawanishkul, K., Zell, A.: Path following for an omnidirectional mobile robot based on model predictive control. In: 2009 IEEE International Conference on Robotics and Automation, pp. 3341–3346 (2009). IEEE Yang et al. [2018] Yang, H., Guo, M., Xia, Y., Cheng, L.: Trajectory tracking for wheeled mobile robots via model predictive control with softening constraints. IET Control Theory & Applications 12(2), 206–214 (2018) Nascimento et al. [2018] Nascimento, T.P., Dórea, C.E.T., Gonçalves, L.M.G.: Nonlinear model predictive control for trajectory tracking of nonholonomic mobile robots: A modified approach. International Journal of Advanced Robotic Systems 15(1), 1729881418760461 (2018) Pacheco and Luo [2015] Pacheco, L., Luo, N.: Testing pid and mpc performance for mobile robot local path-following. International Journal of Advanced Robotic Systems 12(11), 155 (2015) Mayne [2014] Mayne, D.Q.: Model predictive control: Recent developments and future promise. Automatica 50(12), 2967–2986 (2014) Bai et al. [2019] Bai, G., Meng, Y., Liu, L., Luo, W., Gu, Q., Liu, L.: Review and comparison of path tracking based on model predictive control. Electronics 8(10), 1077 (2019) Conceição et al. [2007] Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Yang, H., Guo, M., Xia, Y., Cheng, L.: Trajectory tracking for wheeled mobile robots via model predictive control with softening constraints. IET Control Theory & Applications 12(2), 206–214 (2018) Nascimento et al. [2018] Nascimento, T.P., Dórea, C.E.T., Gonçalves, L.M.G.: Nonlinear model predictive control for trajectory tracking of nonholonomic mobile robots: A modified approach. International Journal of Advanced Robotic Systems 15(1), 1729881418760461 (2018) Pacheco and Luo [2015] Pacheco, L., Luo, N.: Testing pid and mpc performance for mobile robot local path-following. International Journal of Advanced Robotic Systems 12(11), 155 (2015) Mayne [2014] Mayne, D.Q.: Model predictive control: Recent developments and future promise. Automatica 50(12), 2967–2986 (2014) Bai et al. 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In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Nascimento, T.P., Dórea, C.E.T., Gonçalves, L.M.G.: Nonlinear model predictive control for trajectory tracking of nonholonomic mobile robots: A modified approach. International Journal of Advanced Robotic Systems 15(1), 1729881418760461 (2018) Pacheco and Luo [2015] Pacheco, L., Luo, N.: Testing pid and mpc performance for mobile robot local path-following. 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(2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Pacheco, L., Luo, N.: Testing pid and mpc performance for mobile robot local path-following. 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[2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. 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[2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019)
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[2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Kanjanawanishkul, K., Zell, A.: Path following for an omnidirectional mobile robot based on model predictive control. In: 2009 IEEE International Conference on Robotics and Automation, pp. 3341–3346 (2009). IEEE Yang et al. [2018] Yang, H., Guo, M., Xia, Y., Cheng, L.: Trajectory tracking for wheeled mobile robots via model predictive control with softening constraints. IET Control Theory & Applications 12(2), 206–214 (2018) Nascimento et al. [2018] Nascimento, T.P., Dórea, C.E.T., Gonçalves, L.M.G.: Nonlinear model predictive control for trajectory tracking of nonholonomic mobile robots: A modified approach. International Journal of Advanced Robotic Systems 15(1), 1729881418760461 (2018) Pacheco and Luo [2015] Pacheco, L., Luo, N.: Testing pid and mpc performance for mobile robot local path-following. International Journal of Advanced Robotic Systems 12(11), 155 (2015) Mayne [2014] Mayne, D.Q.: Model predictive control: Recent developments and future promise. Automatica 50(12), 2967–2986 (2014) Bai et al. [2019] Bai, G., Meng, Y., Liu, L., Luo, W., Gu, Q., Liu, L.: Review and comparison of path tracking based on model predictive control. Electronics 8(10), 1077 (2019) Conceição et al. [2007] Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Yang, H., Guo, M., Xia, Y., Cheng, L.: Trajectory tracking for wheeled mobile robots via model predictive control with softening constraints. IET Control Theory & Applications 12(2), 206–214 (2018) Nascimento et al. [2018] Nascimento, T.P., Dórea, C.E.T., Gonçalves, L.M.G.: Nonlinear model predictive control for trajectory tracking of nonholonomic mobile robots: A modified approach. International Journal of Advanced Robotic Systems 15(1), 1729881418760461 (2018) Pacheco and Luo [2015] Pacheco, L., Luo, N.: Testing pid and mpc performance for mobile robot local path-following. International Journal of Advanced Robotic Systems 12(11), 155 (2015) Mayne [2014] Mayne, D.Q.: Model predictive control: Recent developments and future promise. Automatica 50(12), 2967–2986 (2014) Bai et al. [2019] Bai, G., Meng, Y., Liu, L., Luo, W., Gu, Q., Liu, L.: Review and comparison of path tracking based on model predictive control. Electronics 8(10), 1077 (2019) Conceição et al. [2007] Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Nascimento, T.P., Dórea, C.E.T., Gonçalves, L.M.G.: Nonlinear model predictive control for trajectory tracking of nonholonomic mobile robots: A modified approach. International Journal of Advanced Robotic Systems 15(1), 1729881418760461 (2018) Pacheco and Luo [2015] Pacheco, L., Luo, N.: Testing pid and mpc performance for mobile robot local path-following. International Journal of Advanced Robotic Systems 12(11), 155 (2015) Mayne [2014] Mayne, D.Q.: Model predictive control: Recent developments and future promise. Automatica 50(12), 2967–2986 (2014) Bai et al. [2019] Bai, G., Meng, Y., Liu, L., Luo, W., Gu, Q., Liu, L.: Review and comparison of path tracking based on model predictive control. Electronics 8(10), 1077 (2019) Conceição et al. [2007] Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Pacheco, L., Luo, N.: Testing pid and mpc performance for mobile robot local path-following. International Journal of Advanced Robotic Systems 12(11), 155 (2015) Mayne [2014] Mayne, D.Q.: Model predictive control: Recent developments and future promise. Automatica 50(12), 2967–2986 (2014) Bai et al. [2019] Bai, G., Meng, Y., Liu, L., Luo, W., Gu, Q., Liu, L.: Review and comparison of path tracking based on model predictive control. Electronics 8(10), 1077 (2019) Conceição et al. [2007] Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Mayne, D.Q.: Model predictive control: Recent developments and future promise. Automatica 50(12), 2967–2986 (2014) Bai et al. [2019] Bai, G., Meng, Y., Liu, L., Luo, W., Gu, Q., Liu, L.: Review and comparison of path tracking based on model predictive control. Electronics 8(10), 1077 (2019) Conceição et al. [2007] Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Bai, G., Meng, Y., Liu, L., Luo, W., Gu, Q., Liu, L.: Review and comparison of path tracking based on model predictive control. Electronics 8(10), 1077 (2019) Conceição et al. [2007] Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019)
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[2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Kanjanawanishkul, K., Zell, A.: Path following for an omnidirectional mobile robot based on model predictive control. In: 2009 IEEE International Conference on Robotics and Automation, pp. 3341–3346 (2009). IEEE Yang et al. [2018] Yang, H., Guo, M., Xia, Y., Cheng, L.: Trajectory tracking for wheeled mobile robots via model predictive control with softening constraints. IET Control Theory & Applications 12(2), 206–214 (2018) Nascimento et al. [2018] Nascimento, T.P., Dórea, C.E.T., Gonçalves, L.M.G.: Nonlinear model predictive control for trajectory tracking of nonholonomic mobile robots: A modified approach. International Journal of Advanced Robotic Systems 15(1), 1729881418760461 (2018) Pacheco and Luo [2015] Pacheco, L., Luo, N.: Testing pid and mpc performance for mobile robot local path-following. International Journal of Advanced Robotic Systems 12(11), 155 (2015) Mayne [2014] Mayne, D.Q.: Model predictive control: Recent developments and future promise. Automatica 50(12), 2967–2986 (2014) Bai et al. [2019] Bai, G., Meng, Y., Liu, L., Luo, W., Gu, Q., Liu, L.: Review and comparison of path tracking based on model predictive control. Electronics 8(10), 1077 (2019) Conceição et al. [2007] Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Yang, H., Guo, M., Xia, Y., Cheng, L.: Trajectory tracking for wheeled mobile robots via model predictive control with softening constraints. IET Control Theory & Applications 12(2), 206–214 (2018) Nascimento et al. [2018] Nascimento, T.P., Dórea, C.E.T., Gonçalves, L.M.G.: Nonlinear model predictive control for trajectory tracking of nonholonomic mobile robots: A modified approach. International Journal of Advanced Robotic Systems 15(1), 1729881418760461 (2018) Pacheco and Luo [2015] Pacheco, L., Luo, N.: Testing pid and mpc performance for mobile robot local path-following. International Journal of Advanced Robotic Systems 12(11), 155 (2015) Mayne [2014] Mayne, D.Q.: Model predictive control: Recent developments and future promise. Automatica 50(12), 2967–2986 (2014) Bai et al. [2019] Bai, G., Meng, Y., Liu, L., Luo, W., Gu, Q., Liu, L.: Review and comparison of path tracking based on model predictive control. Electronics 8(10), 1077 (2019) Conceição et al. [2007] Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Nascimento, T.P., Dórea, C.E.T., Gonçalves, L.M.G.: Nonlinear model predictive control for trajectory tracking of nonholonomic mobile robots: A modified approach. International Journal of Advanced Robotic Systems 15(1), 1729881418760461 (2018) Pacheco and Luo [2015] Pacheco, L., Luo, N.: Testing pid and mpc performance for mobile robot local path-following. International Journal of Advanced Robotic Systems 12(11), 155 (2015) Mayne [2014] Mayne, D.Q.: Model predictive control: Recent developments and future promise. Automatica 50(12), 2967–2986 (2014) Bai et al. [2019] Bai, G., Meng, Y., Liu, L., Luo, W., Gu, Q., Liu, L.: Review and comparison of path tracking based on model predictive control. Electronics 8(10), 1077 (2019) Conceição et al. [2007] Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Pacheco, L., Luo, N.: Testing pid and mpc performance for mobile robot local path-following. International Journal of Advanced Robotic Systems 12(11), 155 (2015) Mayne [2014] Mayne, D.Q.: Model predictive control: Recent developments and future promise. Automatica 50(12), 2967–2986 (2014) Bai et al. [2019] Bai, G., Meng, Y., Liu, L., Luo, W., Gu, Q., Liu, L.: Review and comparison of path tracking based on model predictive control. Electronics 8(10), 1077 (2019) Conceição et al. [2007] Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Mayne, D.Q.: Model predictive control: Recent developments and future promise. Automatica 50(12), 2967–2986 (2014) Bai et al. [2019] Bai, G., Meng, Y., Liu, L., Luo, W., Gu, Q., Liu, L.: Review and comparison of path tracking based on model predictive control. Electronics 8(10), 1077 (2019) Conceição et al. [2007] Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Bai, G., Meng, Y., Liu, L., Luo, W., Gu, Q., Liu, L.: Review and comparison of path tracking based on model predictive control. Electronics 8(10), 1077 (2019) Conceição et al. [2007] Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019)
- Kanjanawanishkul, K., Zell, A.: Path following for an omnidirectional mobile robot based on model predictive control. In: 2009 IEEE International Conference on Robotics and Automation, pp. 3341–3346 (2009). IEEE Yang et al. [2018] Yang, H., Guo, M., Xia, Y., Cheng, L.: Trajectory tracking for wheeled mobile robots via model predictive control with softening constraints. IET Control Theory & Applications 12(2), 206–214 (2018) Nascimento et al. [2018] Nascimento, T.P., Dórea, C.E.T., Gonçalves, L.M.G.: Nonlinear model predictive control for trajectory tracking of nonholonomic mobile robots: A modified approach. International Journal of Advanced Robotic Systems 15(1), 1729881418760461 (2018) Pacheco and Luo [2015] Pacheco, L., Luo, N.: Testing pid and mpc performance for mobile robot local path-following. International Journal of Advanced Robotic Systems 12(11), 155 (2015) Mayne [2014] Mayne, D.Q.: Model predictive control: Recent developments and future promise. Automatica 50(12), 2967–2986 (2014) Bai et al. [2019] Bai, G., Meng, Y., Liu, L., Luo, W., Gu, Q., Liu, L.: Review and comparison of path tracking based on model predictive control. Electronics 8(10), 1077 (2019) Conceição et al. [2007] Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Yang, H., Guo, M., Xia, Y., Cheng, L.: Trajectory tracking for wheeled mobile robots via model predictive control with softening constraints. IET Control Theory & Applications 12(2), 206–214 (2018) Nascimento et al. [2018] Nascimento, T.P., Dórea, C.E.T., Gonçalves, L.M.G.: Nonlinear model predictive control for trajectory tracking of nonholonomic mobile robots: A modified approach. International Journal of Advanced Robotic Systems 15(1), 1729881418760461 (2018) Pacheco and Luo [2015] Pacheco, L., Luo, N.: Testing pid and mpc performance for mobile robot local path-following. International Journal of Advanced Robotic Systems 12(11), 155 (2015) Mayne [2014] Mayne, D.Q.: Model predictive control: Recent developments and future promise. Automatica 50(12), 2967–2986 (2014) Bai et al. [2019] Bai, G., Meng, Y., Liu, L., Luo, W., Gu, Q., Liu, L.: Review and comparison of path tracking based on model predictive control. Electronics 8(10), 1077 (2019) Conceição et al. [2007] Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Nascimento, T.P., Dórea, C.E.T., Gonçalves, L.M.G.: Nonlinear model predictive control for trajectory tracking of nonholonomic mobile robots: A modified approach. International Journal of Advanced Robotic Systems 15(1), 1729881418760461 (2018) Pacheco and Luo [2015] Pacheco, L., Luo, N.: Testing pid and mpc performance for mobile robot local path-following. International Journal of Advanced Robotic Systems 12(11), 155 (2015) Mayne [2014] Mayne, D.Q.: Model predictive control: Recent developments and future promise. Automatica 50(12), 2967–2986 (2014) Bai et al. [2019] Bai, G., Meng, Y., Liu, L., Luo, W., Gu, Q., Liu, L.: Review and comparison of path tracking based on model predictive control. Electronics 8(10), 1077 (2019) Conceição et al. [2007] Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Pacheco, L., Luo, N.: Testing pid and mpc performance for mobile robot local path-following. International Journal of Advanced Robotic Systems 12(11), 155 (2015) Mayne [2014] Mayne, D.Q.: Model predictive control: Recent developments and future promise. Automatica 50(12), 2967–2986 (2014) Bai et al. [2019] Bai, G., Meng, Y., Liu, L., Luo, W., Gu, Q., Liu, L.: Review and comparison of path tracking based on model predictive control. Electronics 8(10), 1077 (2019) Conceição et al. [2007] Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Mayne, D.Q.: Model predictive control: Recent developments and future promise. Automatica 50(12), 2967–2986 (2014) Bai et al. [2019] Bai, G., Meng, Y., Liu, L., Luo, W., Gu, Q., Liu, L.: Review and comparison of path tracking based on model predictive control. Electronics 8(10), 1077 (2019) Conceição et al. [2007] Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Bai, G., Meng, Y., Liu, L., Luo, W., Gu, Q., Liu, L.: Review and comparison of path tracking based on model predictive control. Electronics 8(10), 1077 (2019) Conceição et al. [2007] Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019)
- Yang, H., Guo, M., Xia, Y., Cheng, L.: Trajectory tracking for wheeled mobile robots via model predictive control with softening constraints. IET Control Theory & Applications 12(2), 206–214 (2018) Nascimento et al. [2018] Nascimento, T.P., Dórea, C.E.T., Gonçalves, L.M.G.: Nonlinear model predictive control for trajectory tracking of nonholonomic mobile robots: A modified approach. International Journal of Advanced Robotic Systems 15(1), 1729881418760461 (2018) Pacheco and Luo [2015] Pacheco, L., Luo, N.: Testing pid and mpc performance for mobile robot local path-following. International Journal of Advanced Robotic Systems 12(11), 155 (2015) Mayne [2014] Mayne, D.Q.: Model predictive control: Recent developments and future promise. Automatica 50(12), 2967–2986 (2014) Bai et al. [2019] Bai, G., Meng, Y., Liu, L., Luo, W., Gu, Q., Liu, L.: Review and comparison of path tracking based on model predictive control. Electronics 8(10), 1077 (2019) Conceição et al. [2007] Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Nascimento, T.P., Dórea, C.E.T., Gonçalves, L.M.G.: Nonlinear model predictive control for trajectory tracking of nonholonomic mobile robots: A modified approach. International Journal of Advanced Robotic Systems 15(1), 1729881418760461 (2018) Pacheco and Luo [2015] Pacheco, L., Luo, N.: Testing pid and mpc performance for mobile robot local path-following. International Journal of Advanced Robotic Systems 12(11), 155 (2015) Mayne [2014] Mayne, D.Q.: Model predictive control: Recent developments and future promise. Automatica 50(12), 2967–2986 (2014) Bai et al. [2019] Bai, G., Meng, Y., Liu, L., Luo, W., Gu, Q., Liu, L.: Review and comparison of path tracking based on model predictive control. Electronics 8(10), 1077 (2019) Conceição et al. [2007] Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Pacheco, L., Luo, N.: Testing pid and mpc performance for mobile robot local path-following. International Journal of Advanced Robotic Systems 12(11), 155 (2015) Mayne [2014] Mayne, D.Q.: Model predictive control: Recent developments and future promise. Automatica 50(12), 2967–2986 (2014) Bai et al. [2019] Bai, G., Meng, Y., Liu, L., Luo, W., Gu, Q., Liu, L.: Review and comparison of path tracking based on model predictive control. Electronics 8(10), 1077 (2019) Conceição et al. [2007] Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Mayne, D.Q.: Model predictive control: Recent developments and future promise. Automatica 50(12), 2967–2986 (2014) Bai et al. [2019] Bai, G., Meng, Y., Liu, L., Luo, W., Gu, Q., Liu, L.: Review and comparison of path tracking based on model predictive control. Electronics 8(10), 1077 (2019) Conceição et al. [2007] Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Bai, G., Meng, Y., Liu, L., Luo, W., Gu, Q., Liu, L.: Review and comparison of path tracking based on model predictive control. Electronics 8(10), 1077 (2019) Conceição et al. [2007] Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019)
- Nascimento, T.P., Dórea, C.E.T., Gonçalves, L.M.G.: Nonlinear model predictive control for trajectory tracking of nonholonomic mobile robots: A modified approach. International Journal of Advanced Robotic Systems 15(1), 1729881418760461 (2018) Pacheco and Luo [2015] Pacheco, L., Luo, N.: Testing pid and mpc performance for mobile robot local path-following. International Journal of Advanced Robotic Systems 12(11), 155 (2015) Mayne [2014] Mayne, D.Q.: Model predictive control: Recent developments and future promise. Automatica 50(12), 2967–2986 (2014) Bai et al. [2019] Bai, G., Meng, Y., Liu, L., Luo, W., Gu, Q., Liu, L.: Review and comparison of path tracking based on model predictive control. Electronics 8(10), 1077 (2019) Conceição et al. [2007] Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Pacheco, L., Luo, N.: Testing pid and mpc performance for mobile robot local path-following. International Journal of Advanced Robotic Systems 12(11), 155 (2015) Mayne [2014] Mayne, D.Q.: Model predictive control: Recent developments and future promise. Automatica 50(12), 2967–2986 (2014) Bai et al. [2019] Bai, G., Meng, Y., Liu, L., Luo, W., Gu, Q., Liu, L.: Review and comparison of path tracking based on model predictive control. Electronics 8(10), 1077 (2019) Conceição et al. [2007] Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Mayne, D.Q.: Model predictive control: Recent developments and future promise. Automatica 50(12), 2967–2986 (2014) Bai et al. [2019] Bai, G., Meng, Y., Liu, L., Luo, W., Gu, Q., Liu, L.: Review and comparison of path tracking based on model predictive control. Electronics 8(10), 1077 (2019) Conceição et al. [2007] Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Bai, G., Meng, Y., Liu, L., Luo, W., Gu, Q., Liu, L.: Review and comparison of path tracking based on model predictive control. Electronics 8(10), 1077 (2019) Conceição et al. [2007] Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019)
- Pacheco, L., Luo, N.: Testing pid and mpc performance for mobile robot local path-following. International Journal of Advanced Robotic Systems 12(11), 155 (2015) Mayne [2014] Mayne, D.Q.: Model predictive control: Recent developments and future promise. Automatica 50(12), 2967–2986 (2014) Bai et al. [2019] Bai, G., Meng, Y., Liu, L., Luo, W., Gu, Q., Liu, L.: Review and comparison of path tracking based on model predictive control. Electronics 8(10), 1077 (2019) Conceição et al. [2007] Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Mayne, D.Q.: Model predictive control: Recent developments and future promise. Automatica 50(12), 2967–2986 (2014) Bai et al. [2019] Bai, G., Meng, Y., Liu, L., Luo, W., Gu, Q., Liu, L.: Review and comparison of path tracking based on model predictive control. Electronics 8(10), 1077 (2019) Conceição et al. [2007] Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Bai, G., Meng, Y., Liu, L., Luo, W., Gu, Q., Liu, L.: Review and comparison of path tracking based on model predictive control. Electronics 8(10), 1077 (2019) Conceição et al. [2007] Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019)
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Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Bai, G., Meng, Y., Liu, L., Luo, W., Gu, Q., Liu, L.: Review and comparison of path tracking based on model predictive control. Electronics 8(10), 1077 (2019) Conceição et al. [2007] Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019)
- Bai, G., Meng, Y., Liu, L., Luo, W., Gu, Q., Liu, L.: Review and comparison of path tracking based on model predictive control. Electronics 8(10), 1077 (2019) Conceição et al. [2007] Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019)
- Conceição, A.S., Oliveira, H.P., Silva, A.S., Oliveira, D., Moreira, A.P.: A nonlinear model predictive control of an omni-directional mobile robot. In: 2007 IEEE International Symposium on Industrial Electronics, pp. 2161–2166 (2007). IEEE Wang et al. [2018] Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019)
- Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an omni-directional wheeled mobile robot using a model predictive control strategy. Applied Sciences 8(2), 231 (2018) Grüne et al. [2017] Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019)
- Grüne, L., Pannek, J., Grüne, L., Pannek, J.: Nonlinear Model Predictive Control. Springer, ??? (2017) Baede [2006] Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019)
- Baede, T.: Motion control of an omnidirectional mobile robot. Traineeship report DCT 2006 (2006) Jing and Yang [2018] Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019)
- Jing, X., Yang, X.: Application and improvement of heuristic function in a* algorithm. In: 2018 37th Chinese Control Conference (CCC), pp. 2191–2194 (2018). IEEE Xu and Wang [2017] Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019)
- Xu, X., Wang, Q.: Speed control of hydraulic elevator by using pid controller and self-tuning fuzzy pid controller. In: 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation (YAC), pp. 812–817 (2017). IEEE Andersson et al. [2019] Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019) Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019)
- Andersson, J.A., Gillis, J., Horn, G., Rawlings, J.B., Diehl, M.: Casadi: a software framework for nonlinear optimization and optimal control. Mathematical Programming Computation 11, 1–36 (2019)