Pregled bibliografske jedinice broj: 521264
Explicit Model Predictive Control for Trajectory Tracking with Mobile Robots
Explicit Model Predictive Control for Trajectory Tracking with Mobile Robots // Proceedings of the 2011 IEEE/ASME International Conference on Advanced Intelligent Mechatronics
Budimpešta, 2011. str. 712-717 (predavanje, međunarodna recenzija, cjeloviti rad (in extenso), znanstveni)
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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
/ - Budimpešta, 2011, 712-717
ISBN
978-1-4577-0837-4
Skup
IEEE/ASME International Conference on Advanced Intelligent Mechatronics
Mjesto i datum
Budimpešta, Mađarska, 03.07.2011. - 07.07.2011
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
Projekti:
036-0361621-3012 - Napredne strategije upravljanja i estimacije u složenim sustavima (Perić, Nedjeljko, MZO ) ( CroRIS)
036-0363078-3018 - Upravljanje mobilnim robotima i vozilima u nepoznatim i dinamičkim okruženjima (Petrović, Ivan, MZO ) ( CroRIS)
Ustanove:
Fakultet elektrotehnike i računarstva, Zagreb
