Publication detail

Comparitive study of predictive controllers for trajectory tracking of non-holonomic mobile robot

Authors: Kizhakke Illom Rahul Sharma | Dušek František | Honc Daniel

Year: 2017

Type of publication: článek ve sborníku

Name of source: Proceedings of the 21st International Conference on Process Control, PC 2017

Publisher name: IEEE (Institute of Electrical and Electronics Engineers)

Place: New York

Page from-to: 197-203

Titles:

Language	Name	Abstract	Keywords
cze	Studie prediktivních regulátorů pro řízení dvoukolového mobilního robota	Článek je věnován problematice řízení dvoukolového mobilního robota pomocí prediktivního regulátoru.	prediktivní řízení;mobilní robot;dvokolový;sledování trajektorie
eng	Comparitive study of predictive controllers for trajectory tracking of non-holonomic mobile robot	The paper deals with predictive control of non-holonomic mobile robot. The basic nonlinear kinematic equation is linearized into two different linear time varying models based on frame of reference-world coordinates and local coordinate of mobile robot. The non-linear model predictive control is applied to the trajectory tracking problem of a non-holonomic mobile robot with these models. The control law is derived from a cost function which penalizes the state tracking error, control effort and terminal state deviation error. Various simulation experiments are conducted and a comparative analysis has been made with respect to state-of-the-art approaches.	predictive control;mobile robot;non-holonomic;trajectory tracking

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