Predictive Control of Mobile Robot Using Kinematic and Dynamic Models

Joint Authors

Mendili, Manel
Bouani, Faouzi

Source

Journal of Control Science and Engineering

Issue

Vol. 2017, Issue 2017 (31 Dec. 2017), pp.1-11, 11 p.

Publisher

Hindawi Publishing Corporation

Publication Date

2017-08-28

Country of Publication

Egypt

No. of Pages

11

Main Subjects

Electronic engineering
Information Technology and Computer Science

Abstract EN

This paper presents a predictive control of omnidirectional mobile robot with three independent driving wheels based on kinematic and dynamic models.

Two predictive controllers are developed.

The first is based on the kinematic model and the second is founded on the dynamic model.

The optimal control sequence is obtained by minimizing a quadratic performance criterion.

A comparison has been done between the two controllers and simulations have been done to show the effectiveness of the predictive control with the kinematic and the dynamic models.

American Psychological Association (APA)

Mendili, Manel& Bouani, Faouzi. 2017. Predictive Control of Mobile Robot Using Kinematic and Dynamic Models. Journal of Control Science and Engineering،Vol. 2017, no. 2017, pp.1-11.
https://search.emarefa.net/detail/BIM-1173474

Modern Language Association (MLA)

Mendili, Manel& Bouani, Faouzi. Predictive Control of Mobile Robot Using Kinematic and Dynamic Models. Journal of Control Science and Engineering No. 2017 (2017), pp.1-11.
https://search.emarefa.net/detail/BIM-1173474

American Medical Association (AMA)

Mendili, Manel& Bouani, Faouzi. Predictive Control of Mobile Robot Using Kinematic and Dynamic Models. Journal of Control Science and Engineering. 2017. Vol. 2017, no. 2017, pp.1-11.
https://search.emarefa.net/detail/BIM-1173474

Data Type

Journal Articles

Language

English

Notes

Includes bibliographical references

Record ID

BIM-1173474