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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.
Hamdi Gassara,Ahmed El Hajjaji,Mohamed Krid,Mohamed Chaabane 제어·로봇·시스템학회 2018 International Journal of Control, Automation, and Vol.16 No.4
This paper investigates the problems of delay-dependent stability analysis and memory control design of polynomial fuzzy systems with time delay. Using polynomial Lyapunov-Krasovskii functional and slack polynomial matrix variables, delay dependent sufficient stability and stabilizability conditions are derived in terms of sum of squares (SOS) which can be numerically (partially symbolically) solved via the recently developed SOSTOOLS. The main advantage of the proposed design is the reduction of conservatism for three great reasons. The first one is that polynomial matrices are not only dependent on the system state vector but also on the state vector with time delay. The second one is that the design conditions are formulated in delay dependent SOS. It is well known that the delay-dependent conditions are less conservative than those independent of time delay. The third one is that only correlated terms are used in the design of SOS. The simulation and comparison are given to illustrate the lesser conservativeness of the proposed result.