Comparative Application of Model Predictive Control Strategies to a Wheeled Mobile Robot
作者: Hoai Nam HuynhOlivier VerlindenAlain Vande Wouwer
作者单位: 1Faculty of Engineering of Mons (UMONS)
刊名: Journal of Intelligent & Robotic Systems, 2017, Vol.87 (1), pp.81-95
来源数据库: Springer Nature Journal
DOI: 10.1007/s10846-017-0500-2
关键词: GPCLQMPCModel predictive controlMovement controlPIDWheeled mobile robot
原始语种摘要: Model predictive control strategies refer to a set of methods relying on a process model to determine an optimal control signal by minimising a cost function. This paper reports on the application of predictive control strategies to a wheeled mobile robot. As a first step, friction forces originating from the motor gearboxes and wheels were estimated and a feedforward compensation was applied. Step response tests were then carried out to identify a linear model to design several simple control strategies, such as the Proportional-Integral-Derivative (PID) controller. The PID response constitutes the reference to assess the efficiency of two predictive control strategies: the generalised predictive control (GPC) and the linear quadratic model predictive control (LQMPC) algorithms. These...
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影响因子:0.827 (2012)

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关键词翻译
关键词翻译
  • 过程 机扑
  • control 控制
  • reference 基准电压源
  • predictive 预言
  • Application 应用
  • consumption 消耗
  • robot 机扑
  • process 机扑
  • three 
  • optimal 最佳的
  • system