{"id":"https://openalex.org/W1543610474","doi":"https://doi.org/10.23919/ecc.2001.7076072","title":"Non-linear model predictive control for constrained mobile robots","display_name":"Non-linear model predictive control for constrained mobile robots","publication_year":2001,"publication_date":"2001-09-01","ids":{"openalex":"https://openalex.org/W1543610474","doi":"https://doi.org/10.23919/ecc.2001.7076072","mag":"1543610474"},"language":"en","primary_location":{"id":"doi:10.23919/ecc.2001.7076072","is_oa":false,"landing_page_url":"https://doi.org/10.23919/ecc.2001.7076072","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2001 European Control Conference (ECC)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5082565867","display_name":"H.A. van Essen","orcid":null},"institutions":[{"id":"https://openalex.org/I83019370","display_name":"Eindhoven University of Technology","ror":"https://ror.org/02c2kyt77","country_code":"NL","type":"education","lineage":["https://openalex.org/I83019370"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"H.A. van Essen","raw_affiliation_strings":["Department of Mechanical Engineering, Dynamics and Control Group Eindhoven University of Technology, Eindhoven, MB, The Netherlands","Department of Mechanical Engineering, Dynamics and Control Group, Eindhoven University of Technology, P.O.Box 513, 5600 MB, Eindhoven, The Netherlands"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Dynamics and Control Group Eindhoven University of Technology, Eindhoven, MB, The Netherlands","institution_ids":["https://openalex.org/I83019370"]},{"raw_affiliation_string":"Department of Mechanical Engineering, Dynamics and Control Group, Eindhoven University of Technology, P.O.Box 513, 5600 MB, Eindhoven, The Netherlands","institution_ids":["https://openalex.org/I83019370"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5022300438","display_name":"Henk Nijmeijer","orcid":"https://orcid.org/0000-0001-5883-6191"},"institutions":[{"id":"https://openalex.org/I83019370","display_name":"Eindhoven University of Technology","ror":"https://ror.org/02c2kyt77","country_code":"NL","type":"education","lineage":["https://openalex.org/I83019370"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"H. Nijmeijer","raw_affiliation_strings":["Department of Mechanical Engineering, Dynamics and Control Group Eindhoven University of Technology, Eindhoven, MB, The Netherlands","Department of Mechanical Engineering, Dynamics and Control Group, Eindhoven University of Technology, P.O.Box 513, 5600 MB, Eindhoven, The Netherlands"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Dynamics and Control Group Eindhoven University of Technology, Eindhoven, MB, The Netherlands","institution_ids":["https://openalex.org/I83019370"]},{"raw_affiliation_string":"Department of Mechanical Engineering, Dynamics and Control Group, Eindhoven University of Technology, P.O.Box 513, 5600 MB, Eindhoven, The Netherlands","institution_ids":["https://openalex.org/I83019370"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I83019370"],"apc_list":null,"apc_paid":null,"fwci":2.6476,"has_fulltext":false,"cited_by_count":31,"citation_normalized_percentile":{"value":0.87319948,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":0.9993000030517578,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":0.9993000030517578,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9962999820709229,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9947999715805054,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.8055379390716553},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7289663553237915},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6015169620513916},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5499503016471863},{"id":"https://openalex.org/keywords/benchmark","display_name":"Benchmark (surveying)","score":0.5078914761543274},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5039295554161072},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.49181702733039856},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.46758508682250977},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.46726101636886597},{"id":"https://openalex.org/keywords/linear-system","display_name":"Linear system","score":0.4584891200065613},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.45054304599761963},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4308817684650421},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.24416953325271606},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.23307111859321594},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.10483068227767944}],"concepts":[{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.8055379390716553},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7289663553237915},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6015169620513916},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5499503016471863},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.5078914761543274},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5039295554161072},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.49181702733039856},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.46758508682250977},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.46726101636886597},{"id":"https://openalex.org/C6802819","wikidata":"https://www.wikidata.org/wiki/Q1072174","display_name":"Linear system","level":2,"score":0.4584891200065613},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.45054304599761963},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4308817684650421},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.24416953325271606},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.23307111859321594},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.10483068227767944},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.23919/ecc.2001.7076072","is_oa":false,"landing_page_url":"https://doi.org/10.23919/ecc.2001.7076072","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2001 European Control Conference (ECC)","raw_type":"proceedings-article"},{"id":"pmh:oai:pure.tue.nl:openaire_cris_publications/2a4d7227-801c-46cc-8501-929a9399bfd2","is_oa":false,"landing_page_url":"https://research.tue.nl/en/publications/2a4d7227-801c-46cc-8501-929a9399bfd2","pdf_url":null,"source":{"id":"https://openalex.org/S4406922641","display_name":"TU/e Research Portal","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Van Essen, H A & Nijmeijer, H 2001, Non-linear model predictive control for constrained mobile robots. in 2001 European Control Conference, ECC 2001., 7076072, Institute of Electrical and Electronics Engineers, pp. 1157-1162, 6th European Control Conference, ECC 2001, Porto, Portugal, 4/09/01. https://doi.org/10.23919/ECC.2001.7076072","raw_type":"info:eu-repo/semantics/conferenceObject"},{"id":"pmh:oai:pure.tue.nl:publications/2a4d7227-801c-46cc-8501-929a9399bfd2","is_oa":false,"landing_page_url":"http://www.scopus.com/inward/record.url?scp=84947465884&partnerID=8YFLogxK","pdf_url":null,"source":{"id":"https://openalex.org/S4406922641","display_name":"TU/e Research Portal","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Van Essen, H A & Nijmeijer, H 2001, Non-linear model predictive control for constrained mobile robots. in 2001 European Control Conference, ECC 2001., 7076072, Institute of Electrical and Electronics Engineers, pp. 1157-1162, 6th European Control Conference, ECC 2001, Porto, Portugal, 4/09/01. https://doi.org/10.23919/ECC.2001.7076072","raw_type":"info:eu-repo/semantics/conferenceObject"},{"id":"pmh:tue:oai:pure.tue.nl:publications/2a4d7227-801c-46cc-8501-929a9399bfd2","is_oa":false,"landing_page_url":"https://research.tue.nl/nl/publications/2a4d7227-801c-46cc-8501-929a9399bfd2","pdf_url":null,"source":{"id":"https://openalex.org/S4306401843","display_name":"Data Archiving and Networked Services (DANS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1322597698","host_organization_name":"Royal Netherlands Academy of Arts and Sciences","host_organization_lineage":["https://openalex.org/I1322597698"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"2001 European Control Conference, ECC 2001, 1157 - 1162","raw_type":"info:eu-repo/semantics/conferencepaper"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":10,"referenced_works":["https://openalex.org/W1485467598","https://openalex.org/W1551896781","https://openalex.org/W1839440842","https://openalex.org/W1997861095","https://openalex.org/W2028044548","https://openalex.org/W2033699235","https://openalex.org/W2073787051","https://openalex.org/W2117321644","https://openalex.org/W2222778814","https://openalex.org/W3102923851"],"related_works":["https://openalex.org/W2789522126","https://openalex.org/W1990079087","https://openalex.org/W2066693961","https://openalex.org/W2368363778","https://openalex.org/W122584421","https://openalex.org/W4244295168","https://openalex.org/W2753351751","https://openalex.org/W2060165215","https://openalex.org/W1745761201","https://openalex.org/W2147047743"],"abstract_inverted_index":{"An":[0],"application":[1],"of":[2,11,15,68,91,98,156],"Non-Linear":[3],"Model":[4],"Predictive":[5],"Control":[6],"(NLMPC)":[7],"to":[8,103,113,124,136,180],"the":[9,47,57,66,92,99,125,141,165],"stabilisation":[10],"a":[12,16],"kinematic":[13],"model":[14],"two":[17],"wheel":[18],"mobile":[19],"robot":[20],"with":[21,62],"input":[22],"and":[23,56,80,89,174,176],"(non-holonomic)":[24],"state":[25,109],"constraints":[26,64,110,121],"is":[27,38,53,73,78],"studied.":[28],"Since":[29],"linear":[30,126],"(and":[31],"even":[32],"successively":[33],"linearised":[34],"or":[35],"time-variant)":[36],"MPC":[37],"not":[39,54],"feasible":[40],"for":[41,59,84,140],"this":[42,118],"mechanical":[43],"benchmark":[44],"problem":[45],"(as":[46],"linearisation":[48],"around":[49],"any":[50],"fixed":[51],"point":[52],"controllable":[55],"assumptions":[58],"guaranteed":[60],"stability":[61,63,175],"fail),":[65],"potential":[67],"non-linear":[69,144],"predictive":[70,157],"control":[71,145,158],"techniques":[72],"investigated.":[74,183],"The":[75,87,138,154],"NLMPC":[76],"implementation":[77,171],"discussed":[79],"results":[81,139],"are":[82,111,134,147,161],"presented":[83],"several":[85],"configurations.":[86],"expense":[88],"reliability":[90],"non-convex":[93],"optimisation":[94],"causes":[95],"problems.":[96],"Tuning":[97],"controller":[100],"parameters":[101],"appears":[102],"be":[104,181],"decisive.":[105],"In":[106,117],"general,":[107],"terminal":[108],"required":[112],"guarantee":[114],"asymptotical":[115],"stability.":[116],"paper,":[119],"these":[120],"are,":[122],"analogous":[123],"case,":[127],"replaced":[128],"by":[129],"time-varying":[130],"(exponential)":[131],"weightings":[132],"which":[133],"easier":[135],"handle.":[137],"newly":[142],"proposed":[143],"scheme":[146],"very":[148],"promising,":[149],"including":[150],"improved":[151],"convergence":[152],"rates.":[153],"advantages":[155],"(constraint":[159],"handling)":[160],"fully":[162],"exploited.":[163],"Still,":[164],"excessive":[166],"computational":[167],"demands":[168],"make":[169],"real-time":[170],"almost":[172],"impossible":[173],"robustness":[177],"issues":[178],"need":[179],"further":[182]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":3},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":1},{"year":2012,"cited_by_count":3}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}