Volume 17, Issue 12 (2-2018)                   Modares Mechanical Engineering 2018, 17(12): 167-175 | Back to browse issues page

XML Persian Abstract Print

Download citation:
BibTeX | RIS | EndNote | Medlars | ProCite | Reference Manager | RefWorks
Send citation to:

Zamanian M, Keymasi Khalaji A. Trajectory tracking and stabilization control of a wheeled robot using predictive algorithm. Modares Mechanical Engineering 2018; 17 (12) :167-175
URL: http://mme.modares.ac.ir/article-15-9424-en.html
1- Assistant Professor, Kharazmi University
Abstract:   (3572 Views)
One of the main topics in the field of robotics is the motion control of wheeled mobile robots. Motion control encompasses trajectory tracking and point stabilization problems. In this paper these control problems will be considered for the tractor-trailer wheeled robots and a predictive control algorithm is developed for solving these problems. Therefore first kinematic model of the tractor_trailer robot is developed. Next, reference trajectories is produced for the system. Subsequently, predictive control law is designed for the trajectory tracking and point stabilization problems. Predictive control based on the known values of reference trajectories in the future, produces the control inputs in present time. Consequently the error signal with respect to the reference trajectory in future will be used in order to control the system at the present instant of time. This method is developed for solving the aforementioned control problems and is employed on the tractor_trailer wheeled robot. As can be seen from the results, the proposed control algorithm steer the wheeled robot asymptotically follow reference trajectories. Obtained results from the implementation of the proposed method for solving trajectory tracking and point stabilization problems, demonstrate the effectiveness of the presented algorithm.
Full-Text [PDF 2120 kb]   (5299 Downloads)    
Article Type: Research Article | Subject: Mechatronics
Received: 2017/09/10 | Accepted: 2017/10/29 | Published: 2017/12/1

Add your comments about this article : Your username or Email:

Rights and permissions
Creative Commons License This work is licensed under a Creative Commons Attribution-NonCommercial 4.0 International License.