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http://bibdigital.epn.edu.ec/handle/15000/9354
Titel: | Dynamic nonlinear model based predictive control for mobile robots |
Autor(en): | Rosales Acosta, Andrés |
Stichwörter: | ROBOTS MÓVILES |
Erscheinungsdatum: | Nov-2009 |
Zusammenfassung: | 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 |
Art: | Article |
Enthalten in den Sammlungen: | V Seminario Euro Latinoamericano de Sistemas de Ingeniería (FIEE) |
Dateien zu dieser Ressource:
Datei | Beschreibung | Größe | Format | |
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P19.pdf | 286,27 kB | Adobe PDF | Öffnen/Anzeigen |
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