A Smith predictor based generalized predictive controller for mobile robot path-tracking

被引：0
|
作者：
Normey-Rico, JE [1 ]
Gómez-Ortega, J [1 ]
Camacho, EF [1 ]
机构：
[1] Univ Fed Santa Catarina, Dept Automacao & Sistemas, BR-88040900 Florianopolis, SC, Brazil
来源：
INTELLIGENT AUTONOMOUS VECHICLES 1998 (IAV'98) | 1998年
关键词：
mobile robots; path tracking; predictive controllers; robustness;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper presents the application of a Smith predictor based generalized predictive controller (SPGPC) to the path-traking problem of a mobile robot. The equivalence between the generalized predictive controller (GPC) and a structure composed by an optimal predictor and a classical controller is given and it is shown that using a Smith predictor instead of an optimal predictor, increases the robustness of the system. Some results concerning the influence of the new predictor structure on the closed loop robustness are presented. Simulation and experimental tests carried out on a Labmate mobile robot validate the performance of the proposed strategy. Copyright (C) 1998 IFAC.
引用
收藏
页码：153 / 158
页数：6
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