dc.contributor.author |
Sharma K., Rahul
|
cze |
dc.contributor.author |
Honc, Daniel
|
cze |
dc.contributor.author |
Dušek, František
|
cze |
dc.date.accessioned |
2017-05-11T10:45:32Z |
|
dc.date.available |
2017-05-11T10:45:32Z |
|
dc.date.issued |
2016 |
eng |
dc.identifier.isbn |
978-0-9932440-2-5 |
eng |
dc.identifier.issn |
|
eng |
dc.identifier.uri |
http://hdl.handle.net/10195/67256 |
|
dc.description.abstract |
The paper deals with trajectory tracking of the differential drive robot with a mathematical model governing dynamics and kinematics. Motor dynamics and chassis dynamics are considered for deriving a linear state-space dynamic model. Basic nonlinear kinematic equations are linearized into a successively linearized state-space model. The dynamic and kinematic models are augmented to derive a single state-space linear model. The deviation variables are reference variables which are variables of an ideal robot following a reference trajectory which can be pre-calculated. Reference tracking is achieved by model predictive control of supply voltage of both the drive motors by considering constraints on controlled variables and manipulated variables. Simulation results are provided to demonstrate the performance of proposed control strategy in the MATLAB simulation environment. |
eng |
dc.format |
p. 354-360 |
eng |
dc.language.iso |
eng |
eng |
dc.publisher |
EUROPEAN COUNCIL MODELLING & SIMULATION |
eng |
dc.relation.ispartof |
PROCEEDINGS - 30TH EUROPEAN CONFERENCE ON MODELLING AND SIMULATION ECMS 2016 |
eng |
dc.rights |
Pouze v rámci univerzity |
eng |
dc.subject |
Mobile robot |
eng |
dc.subject |
dynamic system modelling simulation |
eng |
dc.subject |
trajectory tracking |
eng |
dc.subject |
predictive control |
eng |
dc.subject |
mobilní robot |
cze |
dc.subject |
modelování |
cze |
dc.subject |
simulace |
cze |
dc.subject |
dynamický systém |
cze |
dc.subject |
řízení |
cze |
dc.subject |
prediktivní řízení |
cze |
dc.title |
PREDICTIVE CONTROL OF DIFFERENTIAL DRIVE MOBILE ROBOT CONSIDERING DYNAMICS AND KINEMATICS |
eng |
dc.title.alternative |
Prediktivní řízení dvoukolého mobilního robota s uvažováním kinematiky a vlastní dynamiky |
cze |
dc.type |
ConferenceObject |
eng |
dc.description.abstract-translated |
Článek je věnován řízení dvoukolového mobilního robotu s uvažováním kinematiky, ale také vlastní dynamiky motorů a šasi. Nelineární model je analyticky linearizován. Stavový popis je použit pro návrh prediktivního regulátoru, který respektuje omezení akčních, regulovaných, ale i stavových veličin. |
cze |
dc.event |
30th European Conference on Modelling and Simulation, ECMS 2016 (31.05.2016 - 03.06.2016) |
eng |
dc.peerreviewed |
yes |
eng |
dc.publicationstatus |
postprint |
eng |
dc.project.ID |
SGS_2016_021/Řízení pohybu mobilního robotu prediktivním regulátorem |
eng |
dc.identifier.wos |
000386310800050 |
eng |
dc.identifier.obd |
39877834 |
eng |