NDLI: Trajectory tracking of mobile robots based on model predictive control using primal dual neural network

Content Provider	IEEE Xplore Digital Library
Author	Deng Jun Li Zhijun Su Chun-Yi
Copyright Year	2014
Description	Author affiliation: Key Lab. of Autonomous Syst. & Network Control, South China Univ. of Technol., Guangzhou, China (Deng Jun; Li Zhijun; Su Chun-Yi)
Abstract	Mobile robots' motion is constrained by the maximum velocity its actuators can provide, when it tracks a reference trajectory which imposes demanding requirements on the robot's driving capabilities. In this paper, a model predictive control (MPC) scheme is proposed for trajectory tracking control of two-wheel mobile robots. Based on the derived tracking-error kinematics of the robot, the proposed MPC approach can be iteratively formulated as a quadratic programming (QP) problem, which can be solved using a linear variable inequality based primal-dual neural network (LVI-PDNN) over a finite receding horizon. The applied neural networks are both stable in the sense of Lyapunov and globally convergent to the exact optimal solutions of reformulated convex programming problems. The smoothness of the robot motion is improved, a reasonable magnitudes of the robot velocities and a better tracking performance are achieved. Simulation and experimental results are provided to demonstrate the effectiveness and characteristics of the proposed LVI-PDNN based MPC approaches to trajectory tracking control.
Starting Page	8353
Ending Page	8358
File Size	291717
Page Count	6
File Format	PDF
ISBN	9789881563873
ISSN	19341768
DOI	10.1109/ChiCC.2014.6896401
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2014-07-28
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	TCCT, CAA
Subject Keyword	Target tracking Robot kinematics Neural networks Model Predictive Control (MPC) Quadratic Programming (QP) Problem LVI-based Primal-dual Neural Network (LVI-PDNN) Vectors Trajectory Mobile robots Trajectory Tracking
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

More illustrative investigation on window-shaped obstacle avoidance of robot manipulators using a simplified LVI-based primal-dual neural network

Bi-criteria Acceleration Minimization of Redundant Robot Manipulator using LVI-based Primal-Dual Neural Network

Bi-criteria joint torque minimization of redundant robot arms using LVI-based primal-dual neural network

Repetitive Motion Planning of Kinematically Redundant Manipulators Using LVI-based Primal-Dual Neural Network

Missile Guidance Law Based on Robust Model Predictive Control Using Neural-Network Optimization

Vision-Based Model Predictive Control for Steering of a Nonholonomic Mobile Robot

On the Simplified LVI-based Primal-Dual Neural Network for Solving LP and QP Problems

Trajectory tracking of two wheeled mobile robot

Joint angle drift problem of PUMA560 robot arm solved by a simplified LVI-based primal-dual neural network

Trajectory tracking of mobile robots based on model predictive control using primal dual neural network

Similar Documents

More illustrative investigation on window-shaped obstacle avoidance of robot manipulators using a simplified LVI-based primal-dual neural network

Bi-criteria Acceleration Minimization of Redundant Robot Manipulator using LVI-based Primal-Dual Neural Network

Bi-criteria joint torque minimization of redundant robot arms using LVI-based primal-dual neural network

Repetitive Motion Planning of Kinematically Redundant Manipulators Using LVI-based Primal-Dual Neural Network

Missile Guidance Law Based on Robust Model Predictive Control Using Neural-Network Optimization

Vision-Based Model Predictive Control for Steering of a Nonholonomic Mobile Robot

On the Simplified LVI-based Primal-Dual Neural Network for Solving LP and QP Problems

Trajectory tracking of two wheeled mobile robot

Joint angle drift problem of PUMA560 robot arm solved by a simplified LVI-based primal-dual neural network

Trajectory tracking of mobile robots based on model predictive control using primal dual neural network