PREDICTIVE CONTROL OF DIFFERENTIAL DRIVE MOBILE ROBOT CONSIDERING DYNAMICS AND KINEMATICS

Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F00216275%3A25530%2F16%3A39901969" target="_blank" >RIV/00216275:25530/16:39901969 - isvavai.cz</a>
Result on the web
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DOI - Digital Object Identifier
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Result language
angličtina
Original language name
PREDICTIVE CONTROL OF DIFFERENTIAL DRIVE MOBILE ROBOT CONSIDERING DYNAMICS AND KINEMATICS
Original language description
The paper deals with trajectory tracking of the differential drive robot with a mathematical model governing dynamics and kinematics. Motor dynamics and chassis dynamics are considered for deriving a linear state-space dynamic model. Basic nonlinear kinematic equations are linearized into a successively linearized state-space model. The dynamic and kinematic models are augmented to derive a single state-space linear model. The deviation variables are reference variables which are variables of an ideal robot following a reference trajectory which can be pre-calculated. Reference tracking is achieved by model predictive control of supply voltage of both the drive motors by considering constraints on controlled variables and manipulated variables. Simulation results are provided to demonstrate the performance of proposed control strategy in the MATLAB simulation environment.
Czech name
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Czech description
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Publication year
2016
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Article name in the collection
PROCEEDINGS - 30TH EUROPEAN CONFERENCE ON MODELLING AND SIMULATION ECMS 2016
ISBN
978-0-9932440-2-5
ISSN
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e-ISSN
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Number of pages
7
Pages from-to
354-360
Publisher name
EUROPEAN COUNCIL MODELLING & SIMULATION
Place of publication
NOTTINGHAM
Event location
Ostbayerische TH Regensburg, Regensburg
Event date
May 31, 2016
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
000386310800050

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