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Modeling and trajectory tracking control of a two-wheeled mobile robot: Gibbs–Appell and prediction-based approaches

Published online by Cambridge University Press:  01 August 2018

Hossein Mirzaeinejad  and
Ali Mohammad Shafei
Hossein Mirzaeinejad
Affiliation:
Department of Mechanical Engineering, Shahid Bahonar University of Kerman, Kerman, Iran. E-mail: h_mirzaeinejad@uk.ac.ir
Ali Mohammad Shafei*
Affiliation:
Department of Mechanical Engineering, Shahid Bahonar University of Kerman, Kerman, Iran. E-mail: h_mirzaeinejad@uk.ac.ir
*
*Corresponding author: E-mail: Shafei@uk.ac.ir
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Summary

This study deals with the problem of trajectory tracking of wheeled mobile robots (WMR's) under non-holonomic constraints and in the presence of model uncertainties. To solve this problem, the kinematic and dynamic models of a WMR are first derived by applying the recursive Gibbs–Appell method. Then, new kinematics- and dynamics-based multivariable controllers are analytically developed by using the predictive control approach. The control laws are optimally derived by minimizing a pointwise quadratic cost function for the predicted tracking errors of the WMR. The main feature of the obtained closed-form control laws is that online optimization is not needed for their implementation. The prediction time, as a free parameter in the control laws, makes it possible to achieve a compromise between tracking accuracy and implementable control inputs. Finally, the performance of the proposed controller is compared with that of a sliding mode controller, reported in the literature, through simulations of some trajectory tracking maneuvers.

Keywords

Trajectory trackingWMRNon-holonomic constraintPredictive controlOptimization
Type
Articles
Information
Robotica , Volume 36 , Issue 10 , October 2018 , pp. 1551 - 1570
Copyright
Copyright © Cambridge University Press 2018 

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