Title of article :
Trajectory Tracking of Two-Wheeled Mobile Robots, Using LQR Optimal Control Method, Based On Computational Model of KHEPERA IV
Author/Authors :
Abbasi, Amin Department of Electrical Engineering - Khomeinishahr Branch - Islamic Azad University, Isfahan , Jahangir Moshayedi, Ata Department of Electronic Science - Pune Savitribai Phule Pune University,Pune, India
Abstract :
This paper presents a model-based control design for trajectory tracking of two-wheeled mobile robots based on
Linear Quadratic Regulator (LQR) optimal control. The model proposed in this article has been implemented on a
computational model which is obtained from kinematic and dynamic relations of KHEPERA IV. Along the correct
dynamic model for KHEPERA IV plat form which is not elaborated properly in pervious researcher work the
purpose of control is to track a predefined reference trajectory with the best possible precision considering the
dynamic limits of the robot. Applying several challenging paths to the system showed that the control design is able
to track applied reference paths with an acceptable tracking error.
Keywords :
KHEPERA IV , Computational Model , LQR Optimal Control , Dynamic model
Journal title :
Journal of Simulation and Analysis of Novel Technologies in Mechanical Engineering
