scholarly journals Predictive Control of Mobile Robot Using Kinematic and Dynamic Models

2017 ◽  
Vol 2017 ◽  
pp. 1-11 ◽  
Author(s):  
Manel Mendili ◽  
Faouzi Bouani
Keyword(s):  
Optimal Control ◽  
Mobile Robot ◽  
Predictive Control ◽  
Dynamic Models ◽  
Kinematic Model ◽  
Performance Criterion ◽  
Control Sequence ◽  
Omnidirectional Mobile Robot ◽  
Quadratic Performance ◽  
Predictive Controllers

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.

scholarly journals Motion Planning for Omnidirectional Wheeled Mobile Robot by Potential Field Method

2017 ◽  
Vol 2017 ◽  
pp. 1-11 ◽  
Author(s):  
Weihao Li ◽  
Chenguang Yang ◽  
Yiming Jiang ◽  
Xiaofeng Liu ◽  
Chun-Yi Su
Keyword(s):  
Mobile Robot ◽  
Predictive Control ◽  
Potential Field ◽  
Kinematic Model ◽  
Field Method ◽  
Simulation Studies ◽  
Dynamics Model ◽  
Motion Constraints ◽  
Potential Field Method ◽  
Control Scheme

In this paper, potential field method has been used to navigate a three omnidirectional wheels’ mobile robot and to avoid obstacles. The potential field method is used to overcome the local minima problem and the goals nonreachable with obstacles nearby (GNRON) problem. For further consideration, model predictive control (MPC) has been used to incorporate motion constraints and make the velocity more realistic and flexible. The proposed method is employed based on the kinematic model and dynamics model of the mobile robot in this paper. To show the performance of proposed control scheme, simulation studies have been carried to perform the motion process of mobile robot in specific workplace.

Design and Implementation of Model-Predictive Control With Friction Compensation on an Omnidirectional Mobile Robot

2014 ◽  
Vol 19 (2) ◽  
pp. 467-476 ◽  
Author(s):  
Julio Cesar Lins Barreto S. ◽  
Andre Gustavo Scolari Conceicao ◽  
Carlos E. T. Dorea ◽  
Luciana Martinez ◽  
Edson Roberto de Pieri
Keyword(s):  
Model Predictive Control ◽  
Mobile Robot ◽  
Predictive Control ◽  
Friction Compensation ◽  
Design And Implementation ◽  
Omnidirectional Mobile Robot

scholarly journals Pengendalian konvergensi eksponensial untuk omnidirectional mobile robot dengan empat roda

JURNAL ELTEK ◽  
2020 ◽  
Vol 18 (1) ◽  
pp. 108
Author(s):  
Muhammad Jodi Pamenang ◽  
Indrazno Siradjuddin ◽  
Budhy Setiawan
Keyword(s):  
Mobile Robot ◽  
Mobile Robots ◽  
Motion Control ◽  
Kinematic Model ◽  
Robot Motion ◽  
Control Law ◽  
Task Space ◽  
Wheeled Mobile Robots ◽  
Simulation Experiments ◽  
Omnidirectional Mobile Robot

Tujuan mendasar dari kontrol gerak mobile robot adalah untuk mengarahkan robot ke posisi yang diberikan secara acak pada ruang 2D. Mobile robot dengan roda omni memiliki sifat holonomic di mana memiliki keunggulan kelincahan dan permasalahan pengendalian gerak hanya pada sisi aktuator, sedangkan mobile robot dengan roda konvensional, memiliki permasalahan tambahan pengendalian gerak dalam ruang area operasional robot. Karenanya, robot omni lebih gesit untuk bergerak dalam konfigurasi ruang area kerja apa pun. Makalah ini menyajikan model kontrol konvergensi eksponensial berbasis model untuk mobile robot omnidirectional roda empat. Kontrol yang diusulkan menjamin penurunan kesalahan secara eksponensial dari gerakan robot ke setiap posisi robot yang diinginkan. Pembahasan meliputi model kinematik dan kontrol dari robot bergerak omnidirectional roda empat dan eksperimen simulasi yang telah dilakukan untuk memverifikasi kinerja kontrol yang meliputi lintasan robot 2D, serta nilai error atau kesalahan pada kontrol robot. Hasil dari eksperimen simulasi menunjukkan keefektifan kontrol yang diusulkan. Mobile robot telah bergerak ke posisi yang diinginkan pada garis lurus dengan tujuan robot yang akurat dan niali error atau kesalahan yang didapat ialah |0.02735| serta grafik error telah menurun secara eksponensial.   The fundamental objective of a mobile robot motion control is to navigate the robot to any given arbitrary posture in which robot 2D location and its heading are concerned. Mobile robots with omni wheels have a holonomic properties the advantage is of agility and motion control problems only on the actuator, while mobile robots with conventional wheels, have a problem of motion control the robot in task space. Therefore, the omni-wheeled mobile robots are more agile to move in any task space configuration.  This paper presents a model based exponential convergence control law for a four-wheeled omnidirectional mobile robot. The proposed control law guarantees an exponential error decay of mobile robot motion to any given desired robot posture. The kinematic model and the control law of a four-wheeled omnidirectional mobile robot are discussed. Simulation experiments have been conducted to verify the control law performances which include the 2D robot trajectory, the error signals, and the robot control signals. Results from simulation experiments show the effectiveness of the proposed control law. Mobile robot has moved to the desired position in a straight line with the aim of the robot that is accurate and the error or error obtained is | 0.02735 | and the error graph has decreased exponentially

scholarly journals Dynamic Programming in Data Driven Model Predictive Control

2021 ◽  
Vol 20 ◽  
pp. 170-177
Author(s):  
Wang Jianhong
Keyword(s):  
Optimal Control ◽  
Dynamic Programming ◽  
Model Predictive Control ◽  
Cost Function ◽  
Predictive Control ◽  
Short Note ◽  
Data Driven ◽  
Programming System ◽  
Control Sequence ◽  
Actual Output

In this short note, one data driven model predictive control is studied to design the optimal control sequence. The idea of data driven means the actual output value in cost function for model predictive control is identi_ed through input-output observed data in case of unknown but bounded noise and martingale di_erence sequence. After substituting the identi_ed actual output in cost function, the total cost function in model predictive control is reformulated as the other standard form, so that dynamic programming can be applied directly. As dynamic programming is only used in optimization theory, so to extend its advantage in control theory, dynamic programming algorithm is proposed to construct the optimal control sequence. Furthermore, stability analysis for data drive model predictive control is also given based on dynamic programming strategy. Generally, the goal of this short note is to bridge the dynamic programming, system identi_cation and model predictive control. Finally, one simulation example is used to prove the e_ciency of our proposed theory

scholarly journals Self-Triggered Model Predictive Control for Perturbed Underwater Robot Systems

2021 ◽  
Vol 2021 ◽  
pp. 1-9
Author(s):  
Zhongxian Xu ◽  
Lile He ◽  
Ning He ◽  
Lipeng Qi
Keyword(s):  
Optimal Control ◽  
Optimal Control Problem ◽  
Model Predictive Control ◽  
Control Problem ◽  
Predictive Control ◽  
Information Transfer ◽  
Control Method ◽  
Kinematic Model ◽  
Underwater Robot ◽  
Robot Systems

Aiming at solving the control problem of a constrained and perturbed underwater robot, a control method was proposed by combining the self-triggered mechanism and the nonlinear model predictive control (NMPC). The theoretical properties of the kinematic model of the underwater robot, as well as the corresponding MPC controller, are first studied. Then, a novel technique for determining the next update moment of both the optimal control problem and the system state is developed. It is further rigorously proved that the proposed algorithm can (1) stabilize the closed-loop underwater robot system, (2) reduce the time of solving the optimal control problem and (3) save the information transfer resources. Finally, a case study is provided to show the effectiveness of the developed researched scheme.

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