| Autor: |
Jorge Augusto Vasconcelos Alves, Walter Fetter Lages |
| Rok vydání: |
2006 |
| Předmět: |
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| Zdroj: |
IFAC Proceedings Volumes. 39:968-973 |
| ISSN: |
1474-6670 |
| DOI: |
10.3182/20060912-3-de-2911.00166 |
| Popis: |
This paper proposes an optimal control strategy for a differential-drive mobile robot. It is well known that such a system can not be feedback stabilized by a smooth time-invariant control law. By using model predictive control (MPC), an appropriate control law is implicitly obtained. Furthermore, the system physical constraints on state and inputs are dealt with in a straightforward way. The optimization problem is solved by quadratic programming (QP) and experimental results show that the control law computation can be performed under the system real-time requirements. |
| Databáze: |
OpenAIRE |
| Externí odkaz: |
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