High-order disturbance observer enhanced explicit nonlinear MPC for robust trajectory tracking of agricultural robots

Autonomous robots are increasingly being deployed in complex agricultural environments where they are required to handle external disturbances and unmodeled dynamics. In this paper, a novel High Order Disturbance Observer-enhanced Explicit Nonlinear Model Predictive Control (HODO-ENMPC) scheme is pr...

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Bibliographic Details
Main Authors: Yafei Zhang, Wen-Hua Chen, Hui Liu, Hui Wang, Zohaib Khan, Yue Shen
Format: Default Article
Published: 2025
Subjects:
Engineering
Information and computing sciences
Electrical & Electronic Engineering
Agricultural robot
Explicit nonlinear model predictive control (NMPC)
High-order disturbance observer
Trajectory tracking
Online Access:https://hdl.handle.net/2134/31144264.v1
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