Controlling of Mobile Robot by Using of Predictive Controller

Alireza Rezaee


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.


Control; Model; Prediction; Robot

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IAES International Journal of Robotics and Automation (IJRA)
ISSN 2089-4856, e-ISSN 2722-2586
This journal is published by the Institute of Advanced Engineering and Science (IAES) in collaboration with Intelektual Pustaka Media Utama (IPMU).

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