{"title":"Optimal tracking control of two-wheeled mobile robots based on model predictive control","authors":"S. Akiba, T. Zanma, M. Ishida","doi":"10.1109/AMC.2010.5464088","DOIUrl":null,"url":null,"abstract":"This paper presents an optimal tracking control using model predictive control for a two-wheeled mobile robot with a nonholonomic constraint. In the proposed method, the optimized control strategy can be obtained while satisfying some constraints imposed on input and state. The dynamics is modeled as a hybrid dynamical system so that the model predictive control can be applied to it. Some simulation and experimental results illustrate the effectiveness of the proposed method.","PeriodicalId":406900,"journal":{"name":"2010 11th IEEE International Workshop on Advanced Motion Control (AMC)","volume":"78 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2010-03-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"8","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2010 11th IEEE International Workshop on Advanced Motion Control (AMC)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/AMC.2010.5464088","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 8
Abstract
This paper presents an optimal tracking control using model predictive control for a two-wheeled mobile robot with a nonholonomic constraint. In the proposed method, the optimized control strategy can be obtained while satisfying some constraints imposed on input and state. The dynamics is modeled as a hybrid dynamical system so that the model predictive control can be applied to it. Some simulation and experimental results illustrate the effectiveness of the proposed method.
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