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Digital
Library of the European Council for Modelling and Simulation |
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Title: |
Predictive
Control Of Differential Drive Mobile Robot Considering Dynamics And
Kinematics |
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Authors: |
Rahul
Sharma K., Daniel Honc, Frantisek Dusek |
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Published in:
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(2016).ECMS 2016 Proceedings edited
by: Thorsen Claus, Frank Herrmann, Michael Manitz, Oliver Rose, European Council for Modeling and
Simulation. doi:10.7148/2016 ISBN:
978-0-9932440-2-5 30th
European Conference on Modelling and Simulation, Regensburg Germany, May 31st
– June 3rd, 2016 |
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Citation
format: |
Rahul
Sharma K., Daniel Honc, Frantisek Dusek (2016). Predictive Control Of Differential Drive
Mobile Robot Considering Dynamics And Kinematics, ECMS 2016 Proceedings
edited by: Thorsten Claus, Frank Herrmann, Michael Manitz,
Oliver Rose
European Council for Modeling and Simulation. doi:10.7148/2016-0354 |
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DOI: |
http://dx.doi.org/10.7148/2016-0354 |
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Abstract: |
The paper deals with trajectory
tracking of the differential drive robot with a mathematical model governing
dynamics and kinematics. Motor dynamics and chassis dynamics are considered
for deriving a linear state-space dynamic model. Basic nonlinear kinematic equations
are linearized into a successively linearized state-space model. The dynamic and kinematic
models are augmented to derive a single state-space linear model. The deviation
variables are reference variables which are variables
of an ideal robot following a reference trajectory which can be
pre-calculated. Reference tracking is achieved by model predictive control of
supply voltage of both the drive motors by considering constraints on
controlled variables and manipulated variables. Simulation results are
provided to demonstrate the performance of proposed control strategy in the MATLAB
simulation environment. |
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Full
text: |
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