Title :
Explicit Model Predictive Control for trajectory tracking with mobile robots
Author :
Maurovic, I. ; Baotic, Mato ; Petrovic, Ivan
Author_Institution :
Fac. of Electr. Eng. & Comput., Univ. of Zagreb, Zagreb, Croatia
Abstract :
In this paper the Model Predictive Control (MPC) strategy is used to solve the mobile robot trajectory tracking problem, where controller must ensure that robot follows pre-calculated trajectory. The so-called explicit optimal controller design and implementation are described. The MPC solution is calculated off-line and expressed as a piecewise affine function of the current state of a mobile robot. A linearized kinematic model of a differential drive mobile robot is used for the controller design purpose. The optimal controller, which has a form of a look-up table, is tested in simulation and experimentally.
Keywords :
control system synthesis; mobile robots; position control; predictive control; robot kinematics; differential drive mobile robot; explicit model predictive control; explicit optimal controller design; linearized robot kinematic model; look-up table; piecewise affine function; trajectory tracking; Mobile robots; Optimization; Predictive models; Robot kinematics; Tracking; Trajectory;
Conference_Titel :
Advanced Intelligent Mechatronics (AIM), 2011 IEEE/ASME International Conference on
Conference_Location :
Budapest
Print_ISBN :
978-1-4577-0838-1
DOI :
10.1109/AIM.2011.6027140
