Efficient Implementation of Constrained Robust Model Predictive Control Using a State Space Model

Abstract-This work addresses the implementation issue of constrained Model Predictive Control (MPC) for the autonomous trajectory-tracking problem. The chosen process to control is a Wheeled Mobile Robot (WMR) described by a discrete, Multiple Input Multiple Output (MIMO), state-space and linear parameter varying kinematic model. The main motivation of the constrained MPC usage in this case relies on its ability in considering, in a straightforward way, control and states constraints that naturally arise in trajectory tracking practical problems. The efficiency of the presented control scheme is validated through experimental results on a two wheeled mobile robot using both STM32F429II and STM32F407ZG microcontrollers. The controller implementation is facilitated by the usage of the automatic C code generation and interesting optimization before real-time execution. Based on the experimental results obtained, the good performance and robustness of the proposed control scheme are established.

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A Microcontroller Implementation Of Constrained Model Predictive Control

Abbes¹,

Bouani²,

Ksouri³

2011

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Efficient Implementation of Constrained Robust Model Predictive Control Using a State Space Model

Cited by 3 publications

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Automatic model predictive control implementation in a high-performance microcontroller

Automatic model predictive control implementation in a high-performance microcontroller

Realtime Application of Constrained Predictive Control for Mobile Robot Navigation

A Microcontroller Implementation Of Constrained Model Predictive Control

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