publication . Article . 2017

Model predictive Controller for Mobile Robot

Alireza Rezaee;
Open Access English
  • Published: 27 Jun 2017 Journal: Transactions on Environment and Electrical Engineering (issn: 2450-5730, Copyright policy)
  • Publisher: EEEIC International Publishing
Abstract
<jats:p>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 abil...
Subjects
free text keywords: robot, control, model, prediction, Electrical engineering. Electronics. Nuclear engineering, TK1-9971, Environmental sciences, GE1-350, Control theory, Model predictive control, Robot, Mobile robot, Control engineering, PID controller, Optimal control, Engineering, business.industry, business, Open-loop controller, Riccati equation
Related Organizations
Powered by OpenAIRE Open Research Graph
Any information missing or wrong?Report an Issue
publication . Article . 2017

Model predictive Controller for Mobile Robot

Alireza Rezaee;