Controlling of Mobile Robot by Using of Predictive Controller

2017 ◽  
Vol 6 (3) ◽  
pp. 207
Author(s):  
Alireza Rezaee
Keyword(s):  
Mobile Robot ◽  
Weighting Factor ◽  
Superior Performance ◽  
Adaptive Controllers ◽  
Prediction Horizon ◽  
Predictive Controller ◽  
Predictive Controllers ◽  
Signal Filter

In this paper implementation of Model Predictive<br />Controller on mobile robot was explained. The conducted<br />experiments show effectiveness of the proposed method on<br />control of the mobile robot. Furthermore the effects of the model<br />parameters such as control horizon, prediction horizon,<br />weighting factor and signal filter band on the controller<br />performance were studied. Finally, a comparison between the<br />designed MPC controller and PID and adaptive controllers was<br />presented demonstrating superior performance of the Model<br />Predictive Controllers.

scholarly journals A multivariable multiobjective predictive controller

2013 ◽  
Vol 23 (1) ◽  
pp. 35-45 ◽  
Author(s):  
Faten Ben Aicha ◽  
Faouzi Bouani ◽  
Mekki Ksouri
Keyword(s):  
Genetic Algorithm ◽  
Predictive Control ◽  
Mimo System ◽  
Weighting Factor ◽  
Nsga Ii ◽  
Weighted Sum Method ◽  
Prediction Horizon ◽  
Predictive Controller ◽  
Pareto Method ◽  
The Cost

Predictive control of MIMO processes is a challenging problem which requires the specification of a large number of tuning parameters (the prediction horizon, the control horizon and the cost weighting factor). In this context, the present paper compares two strategies to design a supervisor of the Multivariable Generalized Predictive Controller (MGPC), based on multiobjective optimization. Thus, the purpose of this work is the automatic adjustment of the MGPC synthesis by simultaneously minimizing a set of closed loop performances (the overshoot and the settling time for each output of the MIMO system). First, we adopt the Weighted Sum Method (WSM), which is an aggregative method combined with a Genetic Algorithm (GA) used to minimize a single criterion generated by the WSM. Second, we use the Non- Dominated Sorting Genetic Algorithm II (NSGA-II) as a Pareto method and we compare the results of both the methods. The performance of the two strategies in the adjustment of multivariable predictive control is illustrated by a simulation example. The simulation results confirm that a multiobjective, Pareto-based GA search yields a better performance than a single objective GA.

scholarly journals Model predictive Controller for Mobile Robot

2017 ◽  
Vol 2 (2) ◽  
pp. 18 ◽  
Author(s):  
Alireza Rezaee
Keyword(s):  
Mobile Robot ◽  
Adaptive Controller ◽  
Quadratic Equation ◽  
Linear Quadratic ◽  
Model Predictive Controller ◽  
Prediction Horizon ◽  
Future Behavior ◽  
Ricatti Equation ◽  
Predictive Controller ◽  
Real Robot

This paper proposes a Model Predictive Controller (MPC) for control of a P2AT mobile robot. MPC refers to a group of controllers that employ a distinctly identical model of process to predict its future behavior over an extended prediction horizon. The design of a MPC is formulated as an optimal control problem. Then this problem is considered as linear quadratic equation (LQR) and is solved by making use of Ricatti equation. To show the effectiveness of the proposed method this controller is implemented on a real robot. The comparison between a PID controller, adaptive controller, and the MPC illustrates advantage of the designed controller and its ability for exact control of the robot on a specified guide path.

scholarly journals Fuzzy Model Predictive Controller for Artificial Pancreas

2018 ◽  
Vol 9 (3) ◽  
pp. 1178
Author(s):  
Mohamed El Hachimi ◽  
Abdelhakim Ballouk ◽  
AbdNaceur Baghdad
Keyword(s):  
Fuzzy Logic ◽  
Artificial Pancreas ◽  
Fuzzy Model ◽  
Model Predictive Controller ◽  
Prediction Horizon ◽  
Predictive Controller ◽  
Fuzzy Logic Method ◽  
Model Predictive Controllers ◽  
Predictive Controllers ◽  
Commercial Platform

This work consists on new tuning of Model Predictive Controllers using Fuzzy Logic method. Tree relevant parameters are automatically adjusted the prediction horizon Np, the input weight R and the output weight Q. The proposed controller is implemented in an Artificial Pancreas and tested under realistic conditions in a commercial platform of simulation. The result of the simulations revealed the success of such a method to improve the controller’s performances compared to the previous ones.

Identification and Model Predictive Position Control of Two Wheeled Inverted Pendulum Mobile Robot

2015 ◽  
Vol 73 (6) ◽  
Author(s):  
Amir A. Bature ◽  
Salinda Buyamin ◽  
Mohamad N. Ahmad ◽  
Mustapha Muhammad ◽  
Auwalu A. Muhammad
Keyword(s):  
Mathematical Model ◽  
System Identification ◽  
Mobile Robot ◽  
Inverted Pendulum ◽  
Position Control ◽  
Superior Performance ◽  
System A ◽  
Wheeled Inverted Pendulum ◽  
Simulation Results ◽  
Real Plant

In order to predict and analyse the behaviour of a real system, a simulated model is needed. The more accurate the model the better the response is when dealing with the real plant. This paper presents a model predictive position control of a Two Wheeled Inverted Pendulum robot. The model was developed by system identification using a grey box technique. Simulation results show superior performance of the gains computed using the grey box model as compared to common linearized mathematical model. 

Effect of Short-Term Weather Predictions on Model Predictive Trajectory Tracking Performance of Unmanned Surface Vessels

2020 ◽  
Author(s):  
Benjamin Armentor ◽  
Joseph Stevens ◽  
Nathan Madsen ◽  
Andrew Durand ◽  
Joshua Vaughan
Keyword(s):  
Trajectory Tracking ◽  
Wind Waves ◽  
Tracking Error ◽  
Tracking Performance ◽  
Model Predictive Controller ◽  
Prediction Horizon ◽  
Surface Vessels ◽  
Waves And Currents ◽  
Predictive Controller ◽  
Disturbance Model

Abstract For mobile robots, such as Autonomous Surface Vessels (ASVs), limiting error from a target trajectory is necessary for effective and safe operation. This can be difficult when subjected to environmental disturbances like wind, waves, and currents. This work compares the tracking performance of an ASV using a Model Predictive Controller that includes a model of these disturbances. Two disturbance models are compared. One prediction model assumes the current disturbance measurements are constant over the entire prediction horizon. The other uses a statistical model of the disturbances over the prediction horizon. The Model Predictive Controller performance is also compared to a PI-controlled system under the same disturbance conditions. Including a disturbance model in the prediction of the dynamics decreases the trajectory tracking error over the entire disturbance spectrum, especially for longer horizon lengths.

A Receding-Horizon Framework for Co-Optimizing the Velocity and Power-Split of Automated Plug-In Hybrid Electric Vehicles

2021 ◽  
Vol 1 (4) ◽  
Author(s):  
Di Chen ◽  
Mike Huang ◽  
Anna Stefanopoulou ◽  
Youngki Kim
Keyword(s):  
Computation Time ◽  
Global Optimality ◽  
Receding Horizon ◽  
Prediction Horizon ◽  
Control Framework ◽  
Power Split ◽  
Online Implementation ◽  
Driving Scenario ◽  
Predictive Controller ◽  
Fuel Economy Improvement

Abstract This paper presents a control framework to co-optimize the velocity and power-split operation of a plug-in hybrid vehicle (PHEV) online in the presence of traffic constraints. The principal challenge in its online implementation lies in the conflict between the long control horizon required for global optimality and limits in available computational power. To resolve the conflict between the length of horizon and its computation complexity, we propose a receding-horizon strategy where co-states are used to approximate the future cost, helping to shorten the prediction horizon. In particular, we update the co-state using a nominal trajectory and the temporal-difference (TD) error based on co-state dynamics. Our simulation results demonstrate a 12% fuel economy improvement over the sequential/layered control strategy for a given driving scenario. Moreover, its real-time practicality is evidenced by a computation time per model predictive controller (MPC) step on average of around 80 ms within a 10 s prediction horizon.

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.

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