<abstract xmlns="http://www.w3.org/1999/xhtml"><p>This paper presents a model predictive control (MPC) for a differential-drive mobile robot (DDMR) based on the dynamic model. The robot’s mathematical model is nonlinear, which is why an input–output linearization technique is used, and, based on the obtained linear model, an MPC was developed. The predictive control law gains were acquired by minimizing a quadratic criterion. In addition, to enable better tuning of the obtained predictive controller gains, torques and settling time graphs were used. To show the efficiency of the proposed approach, some simulation results are provided.</p></abstract>

This paper presents a model predictive control (MPC) for a differential-drive mobile robot (DDMR) based on the dynamic model. The robot’s mathematical model is nonlinear, which is why an input–output linearization technique is used, and, based on the obtained linear model, an MPC was developed. The predictive control law gains were acquired by minimizing a quadratic criterion. In addition, to enable better tuning of the obtained predictive controller gains, torques and settling time graphs were used. To show the efficiency of the proposed approach, some simulation results are provided.

Model Predictive Control of a Differential-Drive Mobile Robot

Laboratoire d’Automatique de Skikda (LAS)

Faculté de Technologie, Département de Génie Électrique

Acta Universitatis Sapientiae, Electrical and Mechanical Engineering

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 3.0 License.

{"article-title":"Model Predictive Control of a Differential-Drive Mobile Robot"}

This paper presents a model predictive control (MPC) for a differential-drive mobile robot (DDMR) based on the dynamic model. The robot’s mathematical model is...

Model Predictive Control of a Differential-Drive Mobile Robot

Pubblicato online: 01 feb 2019

Pagine: 20 - 41

Ricevuto: 22 set 2018

Accettato: 10 dic 2018

DOI: https://doi.org/10.2478/auseme-2018-0002

Parole chiave
mobile base, dynamic model, nonlinear control, model predictive control, input-output linearization

© 2018 Samir Bouzoualegh et al., published by Sciendo

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 3.0 License.

Model Predictive Control of a Differential-Drive Mobile Robot

Pubblicato online: 01 feb 2019

Pagine: 20 - 41

Ricevuto: 22 set 2018

Accettato: 10 dic 2018

DOI: https://doi.org/10.2478/auseme-2018-0002

Parole chiavemobile base, dynamic model, nonlinear control, model predictive control, input-output linearization

© 2018 Samir Bouzoualegh et al., published by Sciendo

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 3.0 License.

Parole chiave
mobile base, dynamic model, nonlinear control, model predictive control, input-output linearization