Model predictive Controller for Mobile Robot

Design of a Cognitive Neural Predictive Controller for Mobile Robot

A Predictive controller for object tracking of a mobile robot

In this paper a predictive controller for real-time target tracking in mobile robotics is proposed based on adaptive/evolving Takagi-Sugeno fuzzy systems, eTS. The predictive controller consists of two modules; i) a conventional fuzzy controller for robot motion control, and ii) a modelling tool for estimation of the target movements. The prediction of target movements enables the controller to...

Comparative Study of PI Controller and Model Based Predictive Control for Mobile Robot

This paper focuses on resolving the trajectory tracking problem of two wheeled mobile robot. We begin by presenting the kinematic model of the robot which is the base of the control law then we present a PI controller and a model predictive controller to solve the problem of trajectory tracking. We performed a comparison between the performances of the classical PI controller and the predictive...

Robust Sliding Mode Controller for Trajectory Tracking and Attitude Control of a Nonholonomic Spherical Mobile Robot

Based on dynamic modeling, robust trajectory tracking control of attitude and position of a spherical mobile robot is proposed. In this paper, the spherical robot is composed of a spherical shell and three independent rotors which act as the inner driver mechanism. Owing to rolling without slipping assumption, the robot is subjected to two nonholonomic constraints. The state space representatio...

Sampled-Data Model Predictive Tracking Control for Mobile Robot

In this paper, a sampled-data model predictive tracking control method is presented for mobile robots which is modeled as constrained continuous-time linear parameter varying (LPV) systems. The presented sampled-data predictive controller is designed by linear matrix inequality approach. Based on the input delay approach, a controller design condition is derived by constructing a new Lyapunov f...