Journal of the Korean Society of Mechanical Technology (한국기계기술학회지)

Korean Society of Mechanical Technology (한국기계기술학회)
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Design of Model Predictive Controllers with Velocity and Acceleration Constraints

속도 및 가속도 제한조건을 갖는 모델예측제어기 설계

  • Received : 2018.10.17
  • Accepted : 2018.11.24
  • Published : 2018.12.28
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Abstract

The model predictive controller performance of the mobile robot is set to an arbitrary value because it is difficult to select an accurate value with respect to the controller parameter. The general model predictive control uses a quadratic cost function to minimize the difference between the reference tracking error and the predicted trajectory error of the actual robot. In this study, we construct a predictive controller by transforming it into a quadratic programming problem considering velocity and acceleration constraints. The control parameters of the predictive controller, which determines the control performance of the mobile robot, are used a simple weighting matrix Q, R without the reference model matrix $A_r$ by applying a quadratic cost function from which the reference tracking error vector is removed. Therefore, we designed the predictive controller 1 and 2 of the mobile robot considering the constraints, and optimized the controller parameters of the predictive controller using a genetic algorithm with excellent optimization capability.

Keywords

Acknowledgement

Supported by : 경남과학기술대학교

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