PREDICTIVE CONTROL OF DIFFERENTIAL DRIVE MOBILE ROBOT CONSIDERING DYNAMICS AND KINEMATICS

Kód výsledku v IS VaVaI

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Výsledek na webu

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DOI - Digital Object Identifier

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Jazyk výsledku

angličtina

Název v původním jazyce

PREDICTIVE CONTROL OF DIFFERENTIAL DRIVE MOBILE ROBOT CONSIDERING DYNAMICS AND KINEMATICS

Popis výsledku v původním jazyce

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.

Název v anglickém jazyce

PREDICTIVE CONTROL OF DIFFERENTIAL DRIVE MOBILE ROBOT CONSIDERING DYNAMICS AND KINEMATICS

Popis výsledku anglicky

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.

Druh

D - Stať ve sborníku

CEP obor

BC - Teorie a systémy řízení

OECD FORD obor

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Projekt

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Návaznosti

S - Specificky vyzkum na vysokych skolach

Rok uplatnění

2016

Kód důvěrnosti údajů

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Název statě ve sborníku

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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Počet stran výsledku

7

Strana od-do

354-360

Název nakladatele

EUROPEAN COUNCIL MODELLING &amp; SIMULATION

Místo vydání

NOTTINGHAM

Místo konání akce

Ostbayerische TH Regensburg, Regensburg

Datum konání akce

31. 5. 2016

Typ akce podle státní příslušnosti

WRD - Celosvětová akce

Kód UT WoS článku

000386310800050