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Explicit Model Predictive Control for Trajectory Tracking with Mobile Robots


Maurović, Ivan; Baotić, Mato; Petrović, Ivan
Explicit Model Predictive Control for Trajectory Tracking with Mobile Robots // Proceedings of the 2011 IEEE/ASME International Conference on Advanced Intelligent Mechatronics
Budapest, 2011. str. 712-717 (predavanje, međunarodna recenzija, cjeloviti rad (in extenso), znanstveni)


Naslov
Explicit Model Predictive Control for Trajectory Tracking with Mobile Robots

Autori
Maurović, Ivan ; Baotić, Mato ; Petrović, Ivan

Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni

Izvornik
Proceedings of the 2011 IEEE/ASME International Conference on Advanced Intelligent Mechatronics / - Budapest, 2011, 712-717

ISBN
978-1-4577-0837-4

Skup
IEEE/ASME International Conference on Advanced Intelligent Mechatronics

Mjesto i datum
Budimpešta, Mađarska, 3-7.7.2011

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
Trajectory tracking; optimal control; explicit model predictive control

Sažetak
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.

Izvorni jezik
Engleski

Znanstvena područja
Elektrotehnika, Računarstvo, Temeljne tehničke znanosti



POVEZANOST RADA


Projekt / tema
036-0361621-3012 - Napredne strategije upravljanja i estimacije u složenim sustavima (Nedjeljko Perić, )
036-0363078-3018 - Upravljanje mobilnim robotima i vozilima u nepoznatim i dinamičkim okruženjima (Ivan Petrović, )

Ustanove
Fakultet elektrotehnike i računarstva, Zagreb