Article ID | Journal | Published Year | Pages | File Type |
---|---|---|---|---|
413181 | Robotics and Autonomous Systems | 2007 | 10 Pages |
Abstract
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.
Related Topics
Physical Sciences and Engineering
Computer Science
Artificial Intelligence
Authors
Gregor Klančar, Igor Škrjanc,