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http://dx.doi.org/10.17958/ksmt.20.6.201812.809

Design of Model Predictive Controllers with Velocity and Acceleration Constraints  

Park, Jin-Hyun (Gyeongnam Nat'l Univ. of Science and Technology)
Choi, Young-Kiu (Dept. of Electrical Engineering, Pusan National University)
Publication Information
Journal of the Korean Society of Mechanical Technology / v.20, no.6, 2018 , pp. 809-817 More about this Journal
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
Mobile robots; Model predictive control; Constraints; Genetic algorithm;
Citations & Related Records
Times Cited By KSCI : 2  (Citation Analysis)
연도 인용수 순위
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