Tracking-error model-based predictive control for mobile robots in real time

Gregor Klančar, Igor Škrjanc
2007 Robotics and Autonomous Systems  
In this paper, a model-predictive trajectory-tracking control applied to a mobile robot is presented. Linearized tracking-error dynamics is used to predict future system behavior and a control law is derived from a quadratic cost function penalizing the system tracking error and the control effort. Experimental results on a real mobile robot are presented and a comparison of the control obtained with that of a time-varying statefeedback controller is given. The proposed controller includes
more » ... ity and acceleration constraints to prevent the mobile robot from slipping and a Smith predictor is used to compensate for the vision-system dead-time. Some ideas for future work are also discussed.
doi:10.1016/j.robot.2007.01.002 fatcat:aqvihqbowfbnlcjjex7odfocjy