|
|
|
|
Predictive Control of Mobile Robot Using Kinematic and Dynamic Models
|
|
|
|
|
|
|
|
نویسنده
|
mendili m. ,bouani f.
|
|
منبع
|
journal of control science and engineering - 2017 - دوره : 2017 - شماره : 0
|
|
چکیده
|
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. © 2017 manel mendili and faouzi bouani.
|
|
|
|
|
آدرس
|
ecole nationale d'ingénieurs de tunis,laboratoire d'analyse,conception et commande des systèmes,université de tunis el manar,tunis, Tunisia, ecole nationale d'ingénieurs de tunis,laboratoire d'analyse,conception et commande des systèmes,université de tunis el manar,tunis, Tunisia
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
Authors
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|