DocumentCode
3136383
Title
One-step-ahead predictive control of steering mobile robot
Author
Hedjar, R. ; Alsulaiman, M. ; Muteb, K.
Author_Institution
Comput. Eng. Dept., CCIS, King Saud Univ., Riyadh, Saudi Arabia
fYear
2009
fDate
5-8 July 2009
Firstpage
638
Lastpage
641
Abstract
In this paper, a one-step-ahead predictive controller is applied to solve a tracking control problem of steering mobile robot. The derived control law is simple for implementation and no online optimization is needed. Further, to constraint the control signals inside the acceptable range, saturation technique is used. The stability analysis of the closed loop system is provided. Simulation results show the efficiency of this approach where good tracking performances have been obtained.
Keywords
closed loop systems; mobile robots; path planning; predictive control; stability; tracking; closed loop system; control law; one-step-ahead predictive controller; stability analysis; steering mobile robot; tracking control; Electrical equipment industry; Error correction; Feedback; Kinematics; Mobile robots; Predictive control; Robot control; Sliding mode control; Tracking; Trajectory;
fLanguage
English
Publisher
ieee
Conference_Titel
Industrial Electronics, 2009. ISIE 2009. IEEE International Symposium on
Conference_Location
Seoul
Print_ISBN
978-1-4244-4347-5
Electronic_ISBN
978-1-4244-4349-9
Type
conf
DOI
10.1109/ISIE.2009.5222541
Filename
5222541
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