Proceedings of the KIEE Conference (대한전기학회:학술대회논문집)
- 2007.10a
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- Pages.263-264
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- 2007
Model Predictive Tracking Control of Wheeled Mobile Robots
모델 예측 추적을 이용한 이동 로봇의 경로 추적
- Gao, Yu (Division of Electronics and Information Engineering Chonbuk National University) ;
- Chong, Kil-To (Division of Electronics and Information Engineering Chonbuk National University)
- Published : 2007.10.26
Abstract
This paper presents a model predictive controller for tracking control of the wheeled mobile robots (WMRs) subject to nonholonomic constraint. The input-output feedback-linearization method and the mode transformation are used. The performance of the proposed control algorithm is verified via computer simulation. It is shown that the control strategy is feasible.
Keywords