Dynamic nonlinear model based predictive control for mobile robots
2009-11
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.
Escuela Politécnica Nacional - Biblioteca Central
Olga de Beltrán
Ladrón de Guevara E11-253 y Andalucía.