대한전기학회:학술대회논문집 (Proceedings of the KIEE Conference)

대한전기학회 (The Korean Institute of Electrical Engineers)
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Model Predictive Tracking Control of Wheeled Mobile Robots

  • 고유 (전북대학교 전자정보공학부) ;
  • 정길도 (전북대학교 전자정보공학부)
  • Gao, Yu (Division of Electronics and Information Engineering Chonbuk National University) ;
  • Chong, Kil-To (Division of Electronics and Information Engineering Chonbuk National University)
  • 발행 : 2007.10.26
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초록

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.

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