Different control techniques can be used to perform trajectory
tracking of nonholonomic Wheeled Mobile Robots (WMRs). The
application of Model Predictive Control (MPC) for trajectory
tracking of WMRs allows for an easy incorporation of input and
output constraints that may arise in practical situations. Also,
the control effort required to solve the trajectory tracking
problem can be minimized in a straightforward manner using the
built-in optimization methods in MPC. Computation time is the
biggest hurdle in adapting MPC strategies for trajectory tracking.
This research applies a non-feasible active set MPC algorithm that
is much faster than the conventional active set methods.
Traditionally, non-feasible active set method is used in plant
control where the system is time-invariant. The novelty of this
work lies in the application of non-feasible active set method to
time-varying models of Wheeled Mobile Robots. A comparative study
is conducted on feasible and non-feasible active set methods using
various reference trajectories.
Lap Lambert Academic Publishing
|Country of origin:
||229 x 152 x 6mm (L x W x T)
||Paperback - Trade
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