Predictive Control of Mobile Robot Using Kinematic and Dynamic Models

Abstract

This paper presents a predictive control of omnidirectional mobile robot with three independent driving wheels based on kinematic and dynamic models. Two predictive controllers are developed. The first is based on the kinematic model and the second is founded on the dynamic model. The optimal control sequence is obtained by minimizing a quadratic performance criterion. A comparison has been done between the two controllers and simulations have been done to show the effectiveness of the predictive control with the kinematic and the dynamic models.

Model Predictive Control of a Differential-Drive Mobile Robot

“…The optimal gains of the PID controller are obtained by using a dynamic inertia weight artificial bee colony optimization algorithm. Mendili et al [7], [8] presented two papers, the first of which was a predictive controller of a holonomic omnidirectional mobile robot. The predictive control law was obtained by using a state space model, which is based on the robot dynamic model.…”

Trajectory Control of Designed Experimental Mobile Robot

“…In this study, it was aimed to provide trajectory tracking control of the mobile robot using two optimized fuzzy controllers for speed control and azimuth control, while the results showed very good performance for the used controller. Mendili and Bouani [8] have tried the predictive control approach with three independent driving wheels based on kinematic and dynamic models of the mobile robot which has omni wheels. Two predictive controllers have been developed.…”

Dynamic modeling and tracking for nonholonomic mobile robot using PID and back‐stepping

“…The vast majority of the studies suggest around that WMR doesn't meet the notable Brockett's condition for adjustment. Mendili and Bouan 2 present the predictive control scheme for the omnidirectional versatile robot. They worked on kinematic as well as a dynamic model.…”