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Optimal tracking control of two-wheeled mobile robots based on model predictive control

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3 Author(s)
Akiba, S. ; Grad. Sch. of Eng., Mie Univ., Tsu, Japan ; Zanma, T. ; Ishida, M.

This paper presents an optimal tracking control using model predictive control for a two-wheeled mobile robot with a nonholonomic constraint. In the proposed method, the optimized control strategy can be obtained while satisfying some constraints imposed on input and state. The dynamics is modeled as a hybrid dynamical system so that the model predictive control can be applied to it. Some simulation and experimental results illustrate the effectiveness of the proposed method.

Published in:

Advanced Motion Control, 2010 11th IEEE International Workshop on

Date of Conference:

21-24 March 2010