Abstract:
This paper presents an optimal tracking control using model predictive control for a two-wheeled mobile robot with a nonholonomic constraint. In the proposed method, the ...Show MoreMetadata
Abstract:
This paper presents an optimal tracking control using model predictive control for a two-wheeled mobile robot with a nonholonomic constraint. In the proposed method, the optimized control strategy can be obtained while satisfying some constraints imposed on input and state. The dynamics is modeled as a hybrid dynamical system so that the model predictive control can be applied to it. Some simulation and experimental results illustrate the effectiveness of the proposed method.
Date of Conference: 21-24 March 2010
Date Added to IEEE Xplore: 13 May 2010
ISBN Information: