Comparitive study of predictive controllers for trajectory tracking of non-holonomic mobile robot

Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F00216275%3A25530%2F17%3A39911397" target="_blank" >RIV/00216275:25530/17:39911397 - isvavai.cz</a>
Result on the web
<a href="http://dx.doi.org/10.1109/PC.2017.7976213" target="_blank" >http://dx.doi.org/10.1109/PC.2017.7976213</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1109/PC.2017.7976213" target="_blank" >10.1109/PC.2017.7976213</a>

Result language
angličtina
Original language name
Comparitive study of predictive controllers for trajectory tracking of non-holonomic mobile robot
Original language description
The paper deals with predictive control of non-holonomic mobile robot. The basic nonlinear kinematic equation is linearized into two different linear time varying models based on frame of reference-world coordinates and local coordinate of mobile robot. The non-linear model predictive control is applied to the trajectory tracking problem of a non-holonomic mobile robot with these models. The control law is derived from a cost function which penalizes the state tracking error, control effort and terminal state deviation error. Various simulation experiments are conducted and a comparative analysis has been made with respect to state-of-the-art approaches.
Czech name
—
Czech description
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Publication year
2017
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Article name in the collection
Proceedings of the 21st International Conference on Process Control, PC 2017
ISBN
978-1-5386-4011-1
ISSN
—
e-ISSN
neuvedeno
Number of pages
7
Pages from-to
197-203
Publisher name
IEEE (Institute of Electrical and Electronics Engineers)
Place of publication
New York
Event location
Štrbské pleso
Event date
Jun 6, 2017
Type of event by nationality
EUR - Evropská akce
UT code for WoS article
000412119800035

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