Title :
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
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;
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
DOI :
10.1109/ISIE.2007.4374943
