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Optimal tracking control of two-wheeled mobile robots based on model predictive control | IEEE Conference Publication | IEEE Xplore

Optimal tracking control of two-wheeled mobile robots based on model predictive control


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 More

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
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ISSN Information:

Conference Location: Nagaoka, Japan

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