Predictive Control of Mobile Robot Using Kinematic and Dynamic Models-Reference-Cited by-同舟云学术

Predictive Control of Mobile Robot Using Kinematic and Dynamic Models

Published:2017 Issue: Volume:2017 Page:1-11
ISSN:1687-5249
Container-title:Journal of Control Science and Engineering
language:en
Short-container-title:Journal of Control Science and Engineering

Author:

Mendili Manel¹^ORCID,Bouani Faouzi¹

Affiliation:

1. Ecole Nationale d’Ingénieurs de Tunis, LR11ES20, Laboratoire d’Analyse, Conception et Commande des Systèmes, Université de Tunis El Manar, Tunis, Tunisia

Abstract

This paper presents a predictive control of omnidirectional mobile robot with three independent driving wheels based on kinematic and dynamic models. Two predictive controllers are developed. The first is based on the kinematic model and the second is founded on the dynamic model. The optimal control sequence is obtained by minimizing a quadratic performance criterion. A comparison has been done between the two controllers and simulations have been done to show the effectiveness of the predictive control with the kinematic and the dynamic models.

Publisher

Hindawi Limited

Subject

Electrical and Electronic Engineering,Computer Science Applications,Modelling and Simulation

Link

http://downloads.hindawi.com/journals/jcse/2017/5341381.pdf

Reference11 articles.

1. Design and Implementation of Integral Sliding-Mode Control on an Underactuated Two-Wheeled Mobile Robot

2. Optimization of PI and Fuzzy-PI Controllers on Simulation Model of Szabad(ka)-II Walking Robot

3. Sliding-Mode Tracking Control of Nonholonomic Wheeled Mobile Robots in Polar Coordinates

4. Simultaneous Tracking and Stabilization of Mobile Robots: An Adaptive Approach

5. Tracking control of unicycle-modeled mobile robots using a saturation feedback controller

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