Predictive Control Based on Dynamic Modeling of Omnidirectional Mobile Robot

被引：0

作者：

Manel, Mendili ^{[1
]}

Faouzi, Bouani ^{[1
]}

机构：

[1] Univ Tunis El Manar, Ecole Natl Ingenieurs Tunis, LR11ES20, Lab Anal Concept & Commande Syst, Tunis, Tunisia

来源：

2017 INTERNATIONAL CONFERENCE ON ENGINEERING & MIS (ICEMIS) | 2017年

关键词：

holonomic robot; predictive control; dynamic model; planified trajectory;

D O I：

暂无

中图分类号：

TM [电工技术]; TN [电子技术、通信技术];

学科分类号：

0808 ; 0809 ;

摘要：

This paper presents a predictive controller of a holonomic omnidirectional mobile robot. First, we studied the dynamic properties of the robot then we presented the dynamic model. The predictive control law is obtained by using a state space model which is based on the dynamic model of the robot. In this work the reference trajectory is planified by the cubic splines using the classical formulae and with a defined velocity profile (bang-bang). Simulation results are given to illustrate the effectiveness of the control law joined with the dynamic model.

引用

页数：6

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