Model predictive control of trajectory tracking of differentially steered mobile robot
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F00216275%3A25530%2F15%3A39900544" target="_blank" >RIV/00216275:25530/15:39900544 - isvavai.cz</a>
Result on the web
<a href="http://dx.doi.org/10.1007/978-3-319-21206-7_8" target="_blank" >http://dx.doi.org/10.1007/978-3-319-21206-7_8</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1007/978-3-319-21206-7_8" target="_blank" >10.1007/978-3-319-21206-7_8</a>
Alternative languages
Result language
angličtina
Original language name
Model predictive control of trajectory tracking of differentially steered mobile robot
Original language description
The paper is focused on trajectory tracking of differential drive mobile robot. The mathematical model of dynamics and kinematics of the mobile robot is considered, based on first principle approach. The dynamic behaviour of engines and chassis, couplingbetween engines and wheels and basic geometric dimensions are taken into consideration. Reference tracking of linear and angular velocities are achieved by model predictive control of supply voltage of both the drive motors by considering constraints oncontrolled variable, manipulated variable as well as state variables. Simulation results are provided to demonstrate the performance of proposed control strategy in MATLAB simulation environment.
Czech name
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Czech description
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Classification
Type
D - Article in proceedings
CEP classification
BC - Theory and management systems
OECD FORD branch
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Result continuities
Project
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Continuities
S - Specificky vyzkum na vysokych skolach
Others
Publication year
2015
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Article name in the collection
Intelligent Data Analysis and Applications: Proceedings of the Second Euro-China Conference on Intelligent Data Analysis and Applications. ECC 2015
ISBN
978-3-319-21205-0
ISSN
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e-ISSN
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Number of pages
11
Pages from-to
85-95
Publisher name
Springer
Place of publication
Berlin
Event location
Ostrava
Event date
Jun 29, 2015
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
000365130300008