Mobile Robot Motion Control Using Laguerre-Based Model Predictive Control-Reference-Cited by-同舟云学术

Mobile Robot Motion Control Using Laguerre-Based Model Predictive Control

Published:2015-07 Issue: Volume:776 Page:403-410
ISSN:1662-7482
Container-title:Applied Mechanics and Materials
language:
Short-container-title:AMM

Author:

Chipofya Mapopa¹,Lee Deok Jin²,Chong Kil To¹

Affiliation:

1. Chonbuk National University

2. Kunsan National University

Abstract

This paper presents a method of solving the problem of mobile robot motion control using a model predictive controller designed using Laguerre functions. A linear model of the two-wheeled nonholonomic robot is used. This linear model is obtained by converting the nonlinear model in the Cartesian system to a polar one. This change is preferred because it is easier to work with the linear model than its corresponding nonlinear one. Simulation results obtained from MATLAB showing that Laguerre-based MPC (LMPC) performs well are presented.

Publisher

Trans Tech Publications, Ltd.

Link

https://www.scientific.net/AMM.776.403.pdf

Reference10 articles.

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4. F. Kuhne, W. F Lages, J.M. Gomes da Silva Jr, Model predictive control of a mobile robot using linearization, APS/ECM ISBN: 3-938153-30-X.

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