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Predictive Trajectory Tracking Control for Mobile Robots
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| Author(s) |
Gregor Klancar, Igor Skrjanc |
| Abstract |
A model predictive trajectory tracking control
applied to a mobile robot is presented in this paper. Prediction
model derived from linearized tracking error dynamics
is used to predict future system behavior. A control law is
derived from quadratic cost function consisting of system
tracking error and control effort. Experimental results on a
real mobile are presented and a comparison of the obtained
control to a time-varying state feedback controller is given.
The proposed controller includes velocity and acceleration
constraints to prevent mobile robot from slipping and a
Smith predictor is used to compensate for vision system
dead-time. Some future work ideas are discussed as well. |
| Download |
| Filename: | T5-606.pdf |
| Filesize: | 283.2 KB |
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| Type |
Members Only |
| Date |
Last modified 2007-03-13 by System |
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