NDLI: Controle De Robôs Móveis Em Tempo Real Utilizando Controle Preditivo Baseado Em Modelo Linearizado

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Controle De Robôs Móveis Em Tempo Real Utilizando Controle Preditivo Baseado Em Modelo Linearizado

Content Provider	Semantic Scholar
Author	Lages, Walter Fetter Alves, Jorge Augusto Vasconcelos
Copyright Year	2006
Abstract	This paper proposes an optimal control strategy for a differential-drive mobile robot. It is well known that such a system can not be feedback stabilized by a smooth time-invariant control law. By using model predictive control (MPC), an appropriate control law is implicitly obtained. Furthermore, the system physical constraints on state and inputs are dealt with in a straightforward way. The optimization problem is solved by quadratic programming (QP) and experimental results show that the control law computation can be performed under the system real-time requirements. Keywords— Real-time control, Model predictive control, Mobile robots, Quadratic programming. Resumo— Este trabalho propõe uma estratégia de controle ótimo para um robô móvel com acionamento diferencial. É sabido que tal sistema não pode ser estabilizado por uma lei de controle suave e invariante no tempo. Utilizando controle preditivo baseado em modelo (MPC) uma lei de controle apropriada é obtida implicitamente. Adicionalmente, as restrições f́ısicas do sistema são tratadas de maneira direta. O problema de otimização é resolvido por programação quadrática (QP) e resultados experimentais mostram que a lei de controle pode ser computada dentro dos requisitos de tempo real do sistema. Palavras-chave— Controle em tempo real, Controle Preditivo Baseado em Modelo, Robôs Móveis, Programação quadrática.
File Format	PDF HTM / HTML
Alternate Webpage(s)	http://www.ece.ufrgs.br/~fetter/cba2006_752.pdf
Language	English
Access Restriction	Open
Content Type	Text
Resource Type	Article

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