کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
413181 679888 2007 10 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
Tracking-error model-based predictive control for mobile robots in real time
موضوعات مرتبط
مهندسی و علوم پایه مهندسی کامپیوتر هوش مصنوعی
پیش نمایش صفحه اول مقاله
Tracking-error model-based predictive control for mobile robots in real time
چکیده انگلیسی

In this paper, a model-predictive trajectory-tracking control applied to a mobile robot is presented. Linearized tracking-error dynamics is used to predict future system behavior and a control law is derived from a quadratic cost function penalizing the system tracking error and the control effort. Experimental results on a real mobile robot are presented and a comparison of the control obtained with that of a time-varying state-feedback controller is given. The proposed controller includes velocity and acceleration constraints to prevent the mobile robot from slipping and a Smith predictor is used to compensate for the vision-system dead-time. Some ideas for future work are also discussed.

ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Robotics and Autonomous Systems - Volume 55, Issue 6, 30 June 2007, Pages 460–469
نویسندگان
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