Predictive Control of Mobile Robot Using Kinematic and Dynamic Models
Joint Authors
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