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
收藏
页数：6
相关论文
共 50 条
  • [31] Trajectory tracking control based on disturbance observer for omnidirectional mobile robot
    Xu, Lijia
    Shi, Wenrui
    Chen, Sanyan
    Liu, Chunyang
    2018 INTERNATIONAL SEMINAR ON COMPUTER SCIENCE AND ENGINEERING TECHNOLOGY (SCSET 2018), 2019, 1176
  • [32] Passivity-based Model Free Control of an Omnidirectional Mobile Robot
    Ren, Chao
    Ma, Shugen
    2015 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS (ICM), 2015, : 262 - 267
  • [33] Generalized proportional integral observer based control of an omnidirectional mobile robot
    Ren, Chao
    Ma, Shugen
    MECHATRONICS, 2015, 26 : 36 - 44
  • [34] Dynamic Modeling and Robust Control of a Spherical Mobile Robot
    Yu, Tao
    Sun, Hanxu
    Zhao, Wei
    Journal of Computational and Theoretical Nanoscience, 2015, 12 (12) : 6343 - 6351
  • [35] Analysis of Dynamic Interaction Issues for Omnidirectional Mobile Robot
    Nikhade, G. R.
    Chiddarwar, S. S.
    Jha, A. K.
    MACHINES, MECHANISM AND ROBOTICS, 2019, : 183 - 194
  • [36] Kinematics Modeling and Analysis for Threewheel Omnidirectional Mobile Robot
    Ren, Xiaodong
    Feng, Zuren
    Chang, Hong
    Mu, Ruofeng
    2008 7TH WORLD CONGRESS ON INTELLIGENT CONTROL AND AUTOMATION, VOLS 1-23, 2008, : 2608 - 2613
  • [37] Intuitive dynamic modeling and flatness-based nonlinear control of a mobile robot
    Sahoo, Saumya R.
    Chiddarwar, Shital S.
    Alakshendra, Veer
    SIMULATION-TRANSACTIONS OF THE SOCIETY FOR MODELING AND SIMULATION INTERNATIONAL, 2018, 94 (09): : 797 - 820
  • [38] Nonlinear Model Predictive Control of an Omnidirectional Mobile Robot with Self-tuned Prediction Horizon
    Zhang, Hongyang
    Wang, Shuting
    Xie, Yuanlong
    Wu, Hao
    Xiong, Tifan
    Li, Hu
    2022 IEEE 17TH CONFERENCE ON INDUSTRIAL ELECTRONICS AND APPLICATIONS (ICIEA), 2022, : 584 - 589
  • [39] Adaptive model predictive control for an omnidirectional mobile robot with friction compensation and incremental input constraints
    Ren, Chao
    Li, Chunli
    Hu, Liang
    Li, Xiaohan
    Ma, Shugen
    TRANSACTIONS OF THE INSTITUTE OF MEASUREMENT AND CONTROL, 2022, 44 (04) : 835 - 847
  • [40] An omnidirectional mobile robot
    Ye ChangLong
    Ma ShuGen
    Hui Li
    SCIENCE CHINA-INFORMATION SCIENCES, 2011, 54 (12) : 2631 - 2638
12345