A Nonlinear Model Predictive Control of an Omni-Directional Mobile Robot

Author

Conceição, André Scolari ; Oliveira, Hélder P. ; Silva, A. Sousa e ; Oliveira, Diogo ; Moreira, A. Paulo

Author_Institution

Univ. of Porto, Porto

fYear

2007

fDate

4-7 June 2007

Firstpage

2161

Lastpage

2166

Abstract

This paper presents a nonlinear model based predictive controller (NMPC) for trajectory tracking of a mobile robot. Methods of numerical optimization to perform real time nonlinear minimization of the cost function are used. The cost function penalizes the robot position error, the robot orientation angle error and the control effort. Experimental results of the trajectories following and the performance of the methods of optimization are presented.

Keywords

cost optimal control; minimisation; mobile robots; nonlinear control systems; position control; predictive control; cost function; nonlinear model predictive control; numerical optimization; omni-directional mobile robot; real time nonlinear minimization; robot orientation angle error; robot position error; trajectory tracking; Cost function; Error correction; Minimization methods; Mobile robots; Multi-layer neural network; Neural networks; Optimization methods; Predictive control; Predictive models; Wheels;

fLanguage

English

Publisher

ieee

Conference_Titel

Industrial Electronics, 2007. ISIE 2007. IEEE International Symposium on

Conference_Location

Vigo

Print_ISBN

978-1-4244-0754-5

Electronic_ISBN

978-1-4244-0755-2

Type

conf

DOI

10.1109/ISIE.2007.4374943

Filename

4374943