Mobile Robot Motion Control Using Laguerre-Based Model Predictive Control

Mapopa Chipofya; Deok Jin Lee; Kil To Chong

doi:10.4028/www.scientific.net/AMM.776.403

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vol. 776Mobile Robot Motion Control Using Laguerre-Based...

Mobile Robot Motion Control Using Laguerre-Based Model Predictive Control

Abstract:

This paper presents a method of solving the problem of mobile robot motion control using a model predictive controller designed using Laguerre functions. A linear model of the two-wheeled nonholonomic robot is used. This linear model is obtained by converting the nonlinear model in the Cartesian system to a polar one. This change is preferred because it is easier to work with the linear model than its corresponding nonlinear one. Simulation results obtained from MATLAB showing that Laguerre-based MPC (LMPC) performs well are presented.

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Periodical:

Applied Mechanics and Materials (Volume 776)

Pages:

403-410

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.776.403

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Online since:

July 2015

Authors:

Mapopa Chipofya, Deok Jin Lee, Kil To Chong*

Keywords:

Laguerre Functions, Mobile Robot, Model Predictive Control, Trajectory Tracking

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* - Corresponding Author

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