TS-fuzzy predictor observer design for trajectory tracking of wheeled mobile robot

Guechi, El-Hadi; Abellard, Alexandre; Abellard, Patrick

doi:10.1109/iecon.2011.6119272

Cited by 4 publications

(1 citation statement)

References 14 publications

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“…In general, the control of mobile robots poses a very strong challenge among the robot control community. Today, several studies are still ongoing, especially in aeronautical space exploration, the inspection of nuclear power plants, and automated agriculture, motivating the increasing interest in mobile robotics [1]. Such applications need to find an adequate control law for mobile robots after taking into consideration all the possible constraints.…”

Section: Related Workmentioning

confidence: 99%

Model Predictive Control of a Differential-Drive Mobile Robot

Bouzoualegh

Guechi

Kelaiaia

2018

Acta Universitatis Sapientiae Electrical and Mechanical Engineering

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This paper presents a model predictive control (MPC) for a differential-drive mobile robot (DDMR) based on the dynamic model. The robot’s mathematical model is nonlinear, which is why an input–output linearization technique is used, and, based on the obtained linear model, an MPC was developed. The predictive control law gains were acquired by minimizing a quadratic criterion. In addition, to enable better tuning of the obtained predictive controller gains, torques and settling time graphs were used. To show the efficiency of the proposed approach, some simulation results are provided.

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Section: Related Workmentioning

confidence: 99%