Constrained Model Predictive Control of a Skid-Steering Mobile RobotReport as inadecuate




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1 GIPSA-SYSCO - SYSCO GIPSA-DA - Département Automatique 2 GIPSA-SLR - SLR GIPSA-DA - Département Automatique

Abstract : Abstract—In this paper, a kinematic model of a four-wheelskid-steering mobile robot is presented and a receding horizonstabilizing control law for the system is developed, based onthe optimization of a quadratic cost function on the systemstates and control inputs. Global asymptotic stability of thenominal system with actuator saturation constraints is analyticallyproven and a simple dynamical model is constructed forvalidation purposes. The robustness and performance of thecontroller were tested under simulation on both models andthe results are presented and discussed.





Author: Federico Bribiesca Argomedo - Nicolas Marchand - Olivier Sename -

Source: https://hal.archives-ouvertes.fr/



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