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Predictive Control of Mobile Robot Using Kinematic and Dynamic Models
2017
Journal of Control Science and Engineering
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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
doi:10.1155/2017/5341381
fatcat:dtxqgt3t4jfkxbkjbvzhzhz47q