Dynamic nonlinear model based predictive control for mobile robots
In this paper, a nonlinear predictive controller (NMPC) to control a unicycle-like mobile robot for trajectory tracking has been developed. A dynamic model of a PIONNER 3-DX mobile robot is used, where external forces and wheels sliding have been considered. Restrictions on control actions and syste...
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| Tipo de documento: | artigo |
| Estado: | Versão publicada |
| Data de publicação: | 2009 |
| País: | Ecuador |
| Recursos: | Escuela Politécnica Nacional |
| Repositório: | Repositorio Escuela Politécnica Nacional |
| Idioma: | espanhol |
| OAI Identifier: | oai:bibdigital.epn.edu.ec:15000/9354 |
| Acesso em linha: | http://bibdigital.epn.edu.ec/handle/15000/9354 |
| Access Level: | Acceso aberto |
| Palavra-chave: | ROBOTS MÓVILES MOBILE ROBOTS |
| Resumo: | In this paper, a nonlinear predictive controller (NMPC) to control a unicycle-like mobile robot for trajectory tracking has been developed. A dynamic model of a PIONNER 3-DX mobile robot is used, where external forces and wheels sliding have been considered. Restrictions on control actions and system states are also considered. Simulations results at both tracking and regulation (positioning) are shown, these results show the good performance of the developed controller. Finally, this paper shows that the controller can be implemented in real-time by using an analysis of the calculating times of the NMPC algorithm. |
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