A new explicit dynamic path tracking controller using generalized predictive control
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- 作者：Mohamed Krid ; Faiz Benamar ; Roland Lenain
- 关键词：Mobile robot ; modeling ; nonlinear continuous ; time generalized predictive control ; path tracking
- 刊名：International Journal of Control, Automation and Systems
- 出版年：2017
- 出版时间：February 2017
- 年：2017
- 卷：15
- 期：1
- 页码：303-314
- 全文大小：
- 刊物类别：Engineering
- 刊物主题：Control, Robotics, Mechatronics;
- 出版者：Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers
- ISSN：2005-4092
- 卷排序：15
文摘
Outdoor mobile robots must perform operations with ever-increasing speed and distance. Therefore we are interested in designing controllers of fast rovers which improve mobile robot capacity in natural environment. When designing autonomous path tracking systems for fast rovers, a major problem is the dynamic effect and the non-linearity of the model. Several control laws have been designed to resolve the problem by separating the dynamic of the robot at the problem of trajectory tracking.