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- 저자 : Faiz Benamar (검색결과 1 건)
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A New Explicit Dynamic Path Tracking Controller Using Generalized Predictive Control
Mohamed Krid,Faiz Benamar,Roland Lenain 제어·로봇·시스템학회 2017 International Journal of Control, Automation, and Vol.15 No.1
Outdoor mobile robots must perform operations with ever-increasing speed and distance. Therefore weare interested in designing controllers of fast rovers which improve mobile robot capacity in natural environment. When designing autonomous path tracking systems for fast rovers, a major problem is the dynamic effect andthe non-linearity of the model. Several control laws have been designed to resolve the problem by separating thedynamic of the robot at the problem of trajectory tracking. This paper presents a path tracking controller for a fast rover with independent front and rear steering. In the firststep, a dynamic model of a vehicle that moves on a horizontal plane was developed. Next, the projection of theposition of the vehicle in the absolute reference frame was used to define the kinematics non-linear model. Wepresent a new approach to solving a tracking path problem by applying Non-linear Continuous-time GeneralizedPredictive Control (NCGPC). The controller is based on the dynamic model of a bicycle like vehicle which considersthe lateral slippage of the wheels. The prediction model allows anticipation of future changes in setpoints inaccordance with the dynamic constraints of the system. Experimental results, show a good control accuracy andappears to be robust with respect to environmental and robot state changes.
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