One-step-ahead predictive control of steering mobile robot

In this paper, a one-step-ahead predictive controller is applied to solve a tracking control problem of steering mobile robot. The derived control law is simple for implementation and no online optimization is needed. Further, to constraint the control signals inside the acceptable range, saturation...

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Bibliographic Details
Main Authors: Hedjar, R., Alsulaiman, M., Muteb, K.
Format: Conference Proceeding
Language:English
Subjects:
Electrical equipment industry
Error correction
Feedback
Kinematics
Mobile robots
Predictive control
Robot control
Sliding mode control
Tracking
Trajectory
Online Access:Request full text
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Description
Summary:In this paper, a one-step-ahead predictive controller is applied to solve a tracking control problem of steering mobile robot. The derived control law is simple for implementation and no online optimization is needed. Further, to constraint the control signals inside the acceptable range, saturation technique is used. The stability analysis of the closed loop system is provided. Simulation results show the efficiency of this approach where good tracking performances have been obtained.
ISSN:2163-5137
DOI:10.1109/ISIE.2009.5222541