Szukana fraza: [Abstract = "The controller is based on afinite\?horizon continuous time minimization of nonlinear predicted tracking errors. A key feature of the control law is thatits implementation does not need to perform on\-line optimization, and asymptotic tracking of smooth reference signal isguaranteed. An integral action is used to increase the robustness of the closed\-loop system with respect to uncertainties andparameters variations. The proposed control scheme is first applied to planning motions problem of a mobile robot and,afterwards, to the trajectory tracking problem of a rigid link manipulator. Simulation results are performed to validate thetracking performance of the proposed controller."]

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