Tracking-error model-based predictive control for mobile robots in real time |
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| Affiliation: | 1. School of Automation, Beijing Institute of Technology, Beijing 100081, China;2. School of Electrical Engineering, KTH Royal Institute of Technology, SE-100 44 Stockholm, Sweden;1. School of Electrical and Electronic Engineering, Nanyang Technological University, 639798, Singapore;2. Department of Automation, Tsinghua University, Beijing, 100084, China;3. Electrical and Computer Engineering, Polytechnical Institute of New York University, Brooklyn, NY, 11201, USA |
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| 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. |
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