Title :
Nonlinear model predictive control for WMR with input constraint
Author :
Rong Li ; Mou Chen ; Qingxian Wu
Author_Institution :
Coll. of Autom. Eng., Nanjing Univ. of Aeronaut. & Astronaut., Nanjing, China
Abstract :
In this paper, the tracking control problem is investigated for wheeled mobile robot systems in the presence of actuator saturation. To handle the tracking control problem with input saturation, a model predictive control scheme is developed via the feedback linearization. The feedback linearization control law is designed to linearize the nonlinear model which allows the application of a discrete time linear model predictive control algorithm. Simulations are provided to illustrate the effectiveness and the improved performance of the developed nonlinear model predictive control scheme for WMR with input constraint.
Keywords :
control system synthesis; discrete time systems; feedback; linearisation techniques; mobile robots; nonlinear control systems; predictive control; WMR; actuator saturation; discrete time linear model predictive control algorithm; feedback linearization control law design; input constraint; input saturation; nonlinear model linearization; nonlinear model predictive control; tracking control problem; wheeled mobile robot system; Algorithm design and analysis; Closed loop systems; Mobile robots; Predictive control; Trajectory; Feedback Linearization; Input Constraint; Model Predictive Control; WMR;
Conference_Titel :
Multisensor Fusion and Information Integration for Intelligent Systems (MFI), 2014 International Conference on
Conference_Location :
Beijing
Print_ISBN :
978-1-4799-6731-5
DOI :
10.1109/MFI.2014.6997679
