Controller Design for Motors of Wheeled Mobile Robot Based on Generalized Predictive Control Theory

被引：0
|
作者：
Zhang, X. D. [1 ]
Liu, X. P. [1 ]
Gao, S. S. [1 ]
机构：
[1] China Univ Petr, Coll Comp & Commun Engn, Qingdao, Peoples R China
来源：
INTERNATIONAL CONFERENCE ON ADVANCES IN MANAGEMENT ENGINEERING AND INFORMATION TECHNOLOGY (AMEIT 2015) | 2015年
关键词：
generalized predictive control; wheeled mobile robot; decoupling control; TRACKING;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In the paper, generalized predictive controllers are designed for wheeled mobile robot (WMR) differentially driven control system. Based on multiplexed control method, the strong coupling multi-input multi-output control system is divided into two single input single output subsystems. We design controllers for every subsystem and coupling effects act as disturbance. Simulation results are given to illustrate the feasibility of the proposed control method.
引用
收藏
页码：585 / 591
页数：7
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