Comparitive study of predictive controllers for trajectory tracking of non-holonomic mobile robot

Autor:	Daniel Honc, K. Rahul Sharma, Frantisek Dusek
Rok vydání:	2017
Předmět:	0301 basic medicine Robot kinematics Robot calibration Holonomic Computer science 030106 microbiology Control engineering Mobile robot Robot control Tracking error 03 medical and health sciences Model predictive control Kinematics equations Control theory
Zdroj:	2017 21st International Conference on Process Control (PC).
DOI:	10.1109/pc.2017.7976213
Popis:	The paper deals with predictive control of non-holonomic mobile robot. The basic nonlinear kinematic equation is linearized into two different linear time varying models based on frame of reference — world coordinates and local coordinate of mobile robot. The non-linear model predictive control is applied to the trajectory tracking problem of a non-holonomic mobile robot with these models. The control law is derived from a cost function which penalizes the state tracking error, control effort and terminal state deviation error. Various simulation experiments are conducted and a comparative analysis has been made with respect to state-of-the-art approaches.
Databáze:	OpenAIRE
Externí odkaz:	https://explore.openaire.eu/search/publication?articleId=doi_________::37d19a68ca1601a117b77719dd0290b2 https://doi.org/10.1109/pc.2017.7976213 Zobrazit plný text záznamu