Dynamic nonlinear model based  predictive control for mobile robots

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Campo DC	Valor	Lengua/Idioma
dc.contributor.author	Rosales Acosta, Andrés	es_ES
dc.date.accessioned	2010-01-18T17:36:56Z	es_ES
dc.date.accessioned	2010-09-07T16:44:47Z	es_ES
dc.date.accessioned	2011-03-10T14:50:20Z	-
dc.date.available	2010-01-18T17:36:56Z	es_ES
dc.date.available	2010-09-07T16:44:47Z	es_ES
dc.date.available	2011-03-10T14:50:20Z	-
dc.date.issued	2009-11	es_ES
dc.identifier.uri	http://bibdigital.epn.edu.ec/handle/15000/9354	es_ES
dc.description.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.	es_ES
dc.language.iso	spa	es_ES
dc.rights	openAccess	-
dc.rights.uri	https://creativecommons.org/licenses/by-nc-nd/4.0/	-
dc.subject	ROBOTS MÓVILES	es_ES
dc.subject.other	MOBILE ROBOTS	es_ES
dc.title	Dynamic nonlinear model based predictive control for mobile robots	es_ES
dc.type	Article	es_ES
Aparece en las colecciones:	V Seminario Euro Latinoamericano de Sistemas de Ingeniería (FIEE)

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