dc.contributor.author |
Kizhakke Illom, Rahul Sharma
|
cze |
dc.contributor.author |
Dušek, František
|
cze |
dc.contributor.author |
Honc, Daniel
|
cze |
dc.date.accessioned |
2018-02-27T02:44:13Z |
|
dc.date.available |
2018-02-27T02:44:13Z |
|
dc.date.issued |
2017 |
eng |
dc.identifier.isbn |
978-1-5386-4011-1 |
eng |
dc.identifier.uri |
https://hdl.handle.net/10195/69838 |
|
dc.description.abstract |
The paper deals with predictive control of non-holonomic mobile robot. The basic nonlinear kinematic equation is linearized into two different linear time varying models based on frame of reference-world coordinates and local coordinate of mobile robot. The non-linear model predictive control is applied to the trajectory tracking problem of a non-holonomic mobile robot with these models. The control law is derived from a cost function which penalizes the state tracking error, control effort and terminal state deviation error. Various simulation experiments are conducted and a comparative analysis has been made with respect to state-of-the-art approaches. |
eng |
dc.format |
p. 197-203 |
eng |
dc.language.iso |
eng |
eng |
dc.publisher |
IEEE (Institute of Electrical and Electronics Engineers) |
eng |
dc.relation.ispartof |
Proceedings of the 21st International Conference on Process Control, PC 2017 |
eng |
dc.rights |
open access |
eng |
dc.subject |
predictive control |
eng |
dc.subject |
mobile robot |
eng |
dc.subject |
non-holonomic |
eng |
dc.subject |
trajectory tracking |
eng |
dc.subject |
prediktivní řízení |
cze |
dc.subject |
mobilní robot |
cze |
dc.subject |
dvokolový |
cze |
dc.subject |
sledování trajektorie |
cze |
dc.title |
Comparitive study of predictive controllers for trajectory tracking of non-holonomic mobile robot |
eng |
dc.title.alternative |
Studie prediktivních regulátorů pro řízení dvoukolového mobilního robota |
cze |
dc.type |
ConferenceObject |
eng |
dc.description.abstract-translated |
Článek je věnován problematice řízení dvoukolového mobilního robota pomocí prediktivního regulátoru. |
cze |
dc.event |
21st International Conference on Process Control, PC 2017 (06.06.2017 - 09.06.2017, Štrbské pleso, SK) |
eng |
dc.peerreviewed |
yes |
eng |
dc.publicationstatus |
postprint |
eng |
dc.identifier.doi |
10.1109/PC.2017.7976213 |
eng |
dc.relation.publisherversion |
http://ieeexplore.ieee.org/document/7976213/ |
|
dc.project.ID |
SGS_2017_027/Moderní metody simulace, řízení a optimalizace |
eng |
dc.identifier.wos |
000412119800035 |
eng |
dc.identifier.scopus |
2-s2.0-85027507538 |
|
dc.identifier.obd |
39879898 |
eng |