A nonlinear model predictive control of an omni-directional mobile robot

被引：14
|
作者：
Conceicao, Andre Scolari [1 ]
Oliveira, Helder P. [1 ]
e Silva, A. Sousa [1 ]
Oliveira, Diogo [1 ]
Moreira, A. Paulo [1 ]
机构：
[1] Univ Porto, Dept Elect & Comp Engn, P-4100 Oporto, Portugal
来源：
2007 IEEE INTERNATIONAL SYMPOSIUM ON INDUSTRIAL ELECTRONICS, PROCEEDINGS, VOLS 1-8 | 2007年
关键词：
D O I：
10.1109/ISIE.2007.4374943
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 a nonlinear model based predictive controller (NMPC) for trajectory tracking of a mobile robot. Methods of numerical optimization to perform real time nonlinear minimization of the cost function are used. The cost function penalizes the robot position error, the robot orientation angle error and the control effort. Experimental results of the trajectories following and the performance of the methods of optimization are presented.
引用
收藏
页码：2161 / 2166
页数：6
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