Model predictive for Mobile robot control

• Autorzy: Rezaee A.

Identyfikatory

DOI

10.22149/teee.v2i2.96

• Konferencja: International Conference on Environment and Electrical Engineering (17 ; 06-09.06.2017 ; Milan, Italy)
• Języki publikacji: EN

Abstrakty

EN

This paper proposes a Model Predictive Controller (MPC) for control of a P2AT mobile robot. MPC refers to a group of controllers that employ a distinctly identical model of process to predict its future behavior over an extended prediction horizon. The design of a MPC is formulated as an optimal control problem. Then this problem is considered as linear quadratic equation (LQR) and is solved by making use of Ricatti equation. To show the effectiveness of the proposed method this controller is implemented on a real robot. The comparison between a PID controller, adaptive controller, and the MPC illustrates advantage of the designed controller and its ability for exact control of the robot on a specified guide path.

Słowa kluczowe

EN

robot; control; model; prediction

• Wydawca: EEEIC International Publishing
• Czasopismo: Transactions on Environment and Electrical Engineering
• Rocznik: 2017
• Tom: Vol. 2, No. 2
• Strony: 18--23
• Opis fizyczny: Bibliogr. 19 poz., rys.

Twórcy

autor

Rezaee A.

• Department of system and Mechatronics Engineering, Faculty of New Sciences and Technologies, University of Tehran, Tehran, Iran

Bibliografia

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Uwagi

Opracowanie rekordu w ramach umowy 509/P-DUN/2018 ze środków MNiSW przeznaczonych na działalność upowszechniającą naukę (2019).

Błędna numeracja bibliografii