Adaptive Model Predictive Control of Wheeled Mobile Robots
- URL: http://arxiv.org/abs/2201.00863v1
- Date: Mon, 3 Jan 2022 20:07:44 GMT
- Title: Adaptive Model Predictive Control of Wheeled Mobile Robots
- Authors: Nikhil Potu Surya Prakash, Tamara Perreault, Trevor Voth and Zejun
Zhong
- Abstract summary: This paper presents a control algorithm for guiding a two wheeled mobile robot with unknown inertia to a desired point and orientation.
The two wheeled mobile robot is modeled as a knife edge or a skate with nonholonomic kinematic constraints.
The efficacy of the algorithm is demonstrated through numerical simulations at the end of the paper.
- Score: 0.0
- License: http://creativecommons.org/licenses/by/4.0/
- Abstract: In this paper, a control algorithm for guiding a two wheeled mobile robot
with unknown inertia to a desired point and orientation using an Adaptive Model
Predictive Control (AMPC) framework is presented. The two wheeled mobile robot
is modeled as a knife edge or a skate with nonholonomic kinematic constraints
and the dynamical equations are derived using the Lagrangian approach. The
inputs at every time instant are obtained from Model Predictive Control (MPC)
with a set of nominal parameters which are updated using a recursive least
squares algorithm. The efficacy of the algorithm is demonstrated through
numerical simulations at the end of the paper.
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