Controlling of Mobile Robot by Using of Predictive Controller

Alireza Rezaee

Abstract


In this paper implementation of Model Predictive
Controller on mobile robot was explained. The conducted
experiments show effectiveness of the proposed method on
control of the mobile robot. Furthermore the effects of the model
parameters such as control horizon, prediction horizon,
weighting factor and signal filter band on the controller
performance were studied. Finally, a comparison between the
designed MPC controller and PID and adaptive controllers was
presented demonstrating superior performance of the Model
Predictive Controllers.

Keywords


Control; Model; Prediction; Robot

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DOI: http://doi.org/10.11591/ijra.v6i3.pp207-215

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