A nonlinear model predictive control of an omni-directional mobile robot

• Type: Article in International Conference Proceedings Book
• Date: 2007

Authors

Conceicao, AS (Author) Other; Oliveira, HP (Author) FEUP; e Silva, AS (Author) Other; Oliveira, D (Author) Other; António Paulo Moreira (Author) FEUP

Conference proceedings International

Title: 2007 IEEE INTERNATIONAL SYMPOSIUM ON INDUSTRIAL ELECTRONICS, PROCEEDINGS, VOLS 1-8

Pages: 2161-2166

IEEE International Symposium on Industrial Electronics

Vigo, SPAIN, JUN 04-07, 2007

Indexing

ISI Proceedings

ISI Web of Knowledge - 14 Citations

Scopus - 27 Citations

INSPEC

Scientific classification

FOS: Engineering and technology > Electrical engineering, Electronic engineering, Information engineering

CORDIS: Technological sciences > Engineering > Control engineering > Robótica Robotics

Other information

Authenticus ID: P-004-F3J

DOI: 10.1109/isie.2007.4374943

Abstract (EN): This paper presents a nonlinear model based predictive controller (NMPC) for trajectory tracking of a mobile robot. Methods of numerical optimization to perform real time nonlinear minimization of the cost function are used. The cost function penalizes the robot position error, the robot orientation angle error and the control effort. Experimental results of the trajectories following and the performance of the methods of optimization are presented.

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 6