Eventos Anais de eventos
COBEM 2017
24th ABCM International Congress of Mechanical Engineering
Suboptimal Nonlinear Tracking Control of Mobile Robot using the Dynamic Model
Submission Author:
Matheus dos Santos Xavier , SP
Co-Authors:
Matheus dos Santos Xavier, Marat Rafikov
Presenter: Matheus dos Santos Xavier
doi://10.26678/ABCM.COBEM2017.COB17-0954
Abstract
This paper considers a trajectory tracking SDRE control of a dynamical model for a mobile robot that considers its plane translation and rotation kinematics and dynamics. The solution of a control problem and the design of a nonlinear feedback controller, with the model equations in SDC form, are reduced to the solution of a state-dependent algebraic Riccati equation, similarly to the infinite-time horizon time-invariant LQR, but at each time step. Simulations are performed for different reference trajectories to demonstrate control effectiveness.
Keywords
SDRE, nonlinear system, robot tracking, nonholonomic systems, Optimal Control, output regulation
