Nonlinear Model Predictive Control of an Omnidirectional Mobile Robot

被引：3
|
作者：
Li, Xiang [1 ]
Kanjanawanishkul, Kiattisin [1 ]
Zell, Andreas [1 ]
机构：
[1] Univ Tubingen, Dept Comp Architecture, Wilhelm Schickard Inst, D-72076 Tubingen, Germany
来源：
IAS-10: INTELLIGENT AUTONOMOUS SYSTEMS 10 | 2008年
关键词：
Nonlinear Model Predictive Control; Omnidirectional Robot; Path Following; Trajectory Tracking;
D O I：
10.3233/978-1-58603-887-8-92
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 focuses on motion control problems of an omnidirectional robot based on the Nonlinear Model Predictive Control (NMPC) method. The main contributions of this paper are not only to analyze and design NMPC controllers with guaranteed stability to nonlinear kinematic models, but also to show the feasibility of NMPC with a real fast moving omnidirectional robot.
引用
收藏
页码：92 / 99
页数：8
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