Predictive Control of Mobile Robot Using Kinematic and Dynamic Models
This paper presents a predictive control of omnidirectional mobile robot with three independent driving wheels based on kinematic and dynamic models. Two predictive controllers are developed. The first is based on the kinematic model and the second is founded on the dynamic model. The optimal contro...
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| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
Wiley
2017-01-01
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| Series: | Journal of Control Science and Engineering |
| Online Access: | http://dx.doi.org/10.1155/2017/5341381 |
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| _version_ | 1850166063361163264 |
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| author | Manel Mendili Faouzi Bouani |
| author_facet | Manel Mendili Faouzi Bouani |
| author_sort | Manel Mendili |
| collection | DOAJ |
| description | This paper presents a predictive control of omnidirectional mobile robot with three independent driving wheels based on kinematic and dynamic models. Two predictive controllers are developed. The first is based on the kinematic model and the second is founded on the dynamic model. The optimal control sequence is obtained by minimizing a quadratic performance criterion. A comparison has been done between the two controllers and simulations have been done to show the effectiveness of the predictive control with the kinematic and the dynamic models. |
| format | Article |
| id | doaj-art-dad76f6f0cdb443aa104219a8ecb7bdd |
| institution | OA Journals |
| issn | 1687-5249 1687-5257 |
| language | English |
| publishDate | 2017-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Journal of Control Science and Engineering |
| spelling | doaj-art-dad76f6f0cdb443aa104219a8ecb7bdd2025-08-20T02:21:34ZengWileyJournal of Control Science and Engineering1687-52491687-52572017-01-01201710.1155/2017/53413815341381Predictive Control of Mobile Robot Using Kinematic and Dynamic ModelsManel Mendili0Faouzi Bouani1Ecole Nationale d’Ingénieurs de Tunis, LR11ES20, Laboratoire d’Analyse, Conception et Commande des Systèmes, Université de Tunis El Manar, Tunis, TunisiaEcole Nationale d’Ingénieurs de Tunis, LR11ES20, Laboratoire d’Analyse, Conception et Commande des Systèmes, Université de Tunis El Manar, Tunis, TunisiaThis paper presents a predictive control of omnidirectional mobile robot with three independent driving wheels based on kinematic and dynamic models. Two predictive controllers are developed. The first is based on the kinematic model and the second is founded on the dynamic model. The optimal control sequence is obtained by minimizing a quadratic performance criterion. A comparison has been done between the two controllers and simulations have been done to show the effectiveness of the predictive control with the kinematic and the dynamic models.http://dx.doi.org/10.1155/2017/5341381 |
| spellingShingle | Manel Mendili Faouzi Bouani Predictive Control of Mobile Robot Using Kinematic and Dynamic Models Journal of Control Science and Engineering |
| title | Predictive Control of Mobile Robot Using Kinematic and Dynamic Models |
| title_full | Predictive Control of Mobile Robot Using Kinematic and Dynamic Models |
| title_fullStr | Predictive Control of Mobile Robot Using Kinematic and Dynamic Models |
| title_full_unstemmed | Predictive Control of Mobile Robot Using Kinematic and Dynamic Models |
| title_short | Predictive Control of Mobile Robot Using Kinematic and Dynamic Models |
| title_sort | predictive control of mobile robot using kinematic and dynamic models |
| url | http://dx.doi.org/10.1155/2017/5341381 |
| work_keys_str_mv | AT manelmendili predictivecontrolofmobilerobotusingkinematicanddynamicmodels AT faouzibouani predictivecontrolofmobilerobotusingkinematicanddynamicmodels |