One-step-ahead predictive control of steering mobile robot

被引：0
|
作者：
Hedjar, R. [1 ]
Alsulaiman, M. [1 ]
Muteb, K. [1 ]
机构：
[1] King Saud Univ, CCIS, Dept Comp Engn, Riyadh 11451, Saudi Arabia
来源：
ISIE: 2009 IEEE INTERNATIONAL SYMPOSIUM ON INDUSTRIAL ELECTRONICS | 2009年
关键词：
D O I：
暂无
中图分类号：
TM [电工技术]; TN [电子技术、通信技术];
学科分类号：
0808 ; 0809 ;
摘要：
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.
引用
收藏
页码：633 / 636
页数：4
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