Explicit Model Predictive Control for Trajectory Tracking with Mobile Robots (CROSBI ID 574497)
Prilog sa skupa u zborniku | izvorni znanstveni rad | međunarodna recenzija
Podaci o odgovornosti
Maurović, Ivan ; Baotić, Mato ; Petrović, Ivan
engleski
Explicit Model Predictive Control for Trajectory Tracking with Mobile Robots
In this paper the Model Predictive Control (MPC) strategy is used to solve the mobile robot trajectory tracking problem, where controller must ensure that robot follows pre-calculated trajectory. The so-called explicit optimal controller design and implementation are described. The MPC solution is calculated off-line and expressed as a piecewise affine function of the current state of a mobile robot. A linearized kinematic model of a differential drive mobile robot is used for the controller design purpose. The optimal controller, which has a form of a look-up table, is tested in simulation and experimentally.
trajectory tracking; optimal control; explicit model predictive control
nije evidentirano
nije evidentirano
nije evidentirano
nije evidentirano
nije evidentirano
nije evidentirano
Podaci o prilogu
712-717.
2011.
objavljeno
Podaci o matičnoj publikaciji
Proceedings of the 2011 IEEE/ASME International Conference on Advanced Intelligent Mechatronics
Budimpešta:
978-1-4577-0837-4
2159-6247
Podaci o skupu
IEEE/ASME International Conference on Advanced Intelligent Mechatronics
predavanje
03.07.2011-07.07.2011
Budimpešta, Mađarska