Please use this identifier to cite or link to this item:
http://bibdigital.epn.edu.ec/handle/15000/9354
Title: | Dynamic nonlinear model based predictive control for mobile robots |
Authors: | Rosales Acosta, Andrés |
Keywords: | ROBOTS MÓVILES |
Issue Date: | Nov-2009 |
Abstract: | 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 |
Type: | Article |
Appears in Collections: | V Seminario Euro Latinoamericano de Sistemas de Ingeniería (FIEE) |
Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.