Explicit Model Predictive Control for trajectory tracking with mobile robots

Author

Maurovic, I. ; Baotic, Mato ; Petrovic, Ivan

Author_Institution

Fac. of Electr. Eng. & Comput., Univ. of Zagreb, Zagreb, Croatia

fYear

2011

fDate

3-7 July 2011

Firstpage

712

Lastpage

717

Abstract

In this paper the Model Predictive Control (MPC) strategy is used to solve the mobile robot trajectory tracking problem, where controller must ensure that robot follows pre-calculated trajectory. The so-called explicit optimal controller design and implementation are described. The MPC solution is calculated off-line and expressed as a piecewise affine function of the current state of a mobile robot. A linearized kinematic model of a differential drive mobile robot is used for the controller design purpose. The optimal controller, which has a form of a look-up table, is tested in simulation and experimentally.

Keywords

control system synthesis; mobile robots; position control; predictive control; robot kinematics; differential drive mobile robot; explicit model predictive control; explicit optimal controller design; linearized robot kinematic model; look-up table; piecewise affine function; trajectory tracking; Mobile robots; Optimization; Predictive models; Robot kinematics; Tracking; Trajectory;

fLanguage

English

Publisher

ieee

Conference_Titel

Advanced Intelligent Mechatronics (AIM), 2011 IEEE/ASME International Conference on

Conference_Location

Budapest

ISSN

2159-6247

Print_ISBN

978-1-4577-0838-1

Type

conf

DOI

10.1109/AIM.2011.6027140

Filename

6027140