Earticle

초록

영어

A model predictive control method is proposed for the point stabilization of wheeled mobile robots (WMRs) subject to nonholonomic constraints. The problem is simplified by considering only the steering system and neglecting the vehicle dynamics. A linearized error model is then formulated by transforming the robot position into polar frame. The feedback control policy is obtained by minimizing a quadratic cost function which penalizes the predicted errors and control variables in each sampling time over a finite horizon. The proposed control law is proven to guarantee the exponential stability of the robot system by considering additive inequality constraints in the optimization process. The performance of the stabilization algorithm is verified through computer simulations showing that the proposed method has a good regulation performance and convergence.

목차

Abstract
 1. Introduction
 2. Kinematics of the Wheeled Mobile Robot
 3. The Definition of Error Model
 4. The Model Predictive Controller
 5. Implementation of the Control
 6. Conclusion
 References

키워드

저자

• Yu Gao [ 1School of Mechanical and Electric Engineering, Soochow University, Suzhou, Jiangsu, China ]
• Kil To Chong [ Department of Electronics and Information Engineering, Chonbuk National University, South Korea ] Corresponding Author

참고문헌

발행기관

간행물

표지보기 관심저널 등록

• 간행물명

  International Journal of Control and Automation

• 간기

  월간

• pISSN

  2005-4297

• 수록기간

  2008~2016

• 십진분류

  KDC 505 DDC 605