Predictive control of mobile robot using kinematic and dynamic models
type: Item
instance of: scholarly article
title: Predictive control of mobile robot using kinematic and dynamic models
zbMATH Open document ID: 1400.93208
DOI: 10.1155/2017/5341381
author: Manel Mendili
author: Faouzi Bouani
published in: Journal of Control Science and Engineering
publication date: 2018-10-15T00:00:00Z
review text: Summary: This paper presents a predictive control of omnidirectional mobile robot with three independent driving wheels based on kinematic and dynamic models. Two predictive controllers are developed. The first is based on the kinematic model and the second is founded on the dynamic model. The optimal control sequence is obtained by minimizing a quadratic performance criterion. A comparison has been done between the two controllers and simulations have been done to show the effectiveness of the predictive control with the kinematic and the dynamic models.
Mathematics Subject Classification ID: 93C85
Mathematics Subject Classification ID: 93C57
Mathematics Subject Classification ID: 93B40
Mathematics Subject Classification ID: 49N10
zbMATH DE Number: 6954261
zbMATH Keywords: predictive control
zbMATH Keywords: omnidirectional mobile robot
zbMATH Keywords: kinematic and dynamic models
MaRDI profile type: Publication
full work available at URL: https://doi.org/10.1155/2017/5341381
OpenAlex ID: W2748287164
cites work: Simultaneous Tracking and Stabilization of Mobile Robots: An Adaptive Approach
cites work: Model predictive control. With a foreword by M. J. Grimble and M. A. Johnson
description: scientific article; zbMATH DE number 6954261