Abstract
In this work, an unconstrained Model Predictive Control (MPC) controller, and a filtered Smith predictor (FSP) structure are applied as a solution for a trajectory tracking problem of an omni-directional mobile robot through a networked based control scheme. The FSP is able to deal with the process dead-time, due to communication delay, and also mitigate measurement noise improving the robustness of the controller, while the control signal is calculated by simply applying the MPC explicit solution. The proposed controller uses a cascade structure where the innermost control loop is responsible for the velocity control, while the outer loop controls the position error. The performance of the controller is evaluated using experimental results when controlling the mobile robot in different trajectories.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
