Por favor, use este identificador para citar o enlazar este ítem: http://bibdigital.epn.edu.ec/handle/15000/9354
Título : Dynamic nonlinear model based predictive control for mobile robots
Autor : Rosales Acosta, Andrés
Palabras clave : ROBOTS MÓVILES
Fecha de publicación : nov-2009
Resumen : 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.
URI : http://bibdigital.epn.edu.ec/handle/15000/9354
Aparece en las colecciones: V Seminario Euro Latinoamericano de Sistemas de Ingeniería (FIEE)

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