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
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;
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
DOI :
10.1109/ISIE.2009.5222541
