The Control Design for Trajectory Tracking of Four-wheeled Mobile Robot using Model Predictive Control: A Preliminary Study
Dimas Maulana, Yusuf Fuad, Yuliani Puji Astuti
Available Online December 2018.
- https://doi.org/10.2991/icst-18.2018.106How to use a DOI?
- model predictive control, mobile robot, trajectory tracking
- The mobile robot is one of the Unmanned Vehicle that belongs to Unmanned Ground Vehicle (UGV) which has the ability to be remotely controlled. The advancement in navigation has enabled new opportunity to send the UGV to explore new area or disaster mitigation. The path is set with the help of digital imaging of a certain area, then the mobile robot is expected to follow the path. In this paper, we conduct a simulation of four-wheeled mobile robot trajectory tracking. We design a control for trajectory tracking using the Model Predictive Control approach. By simulating for some values of control and reference, the simulation shows that the control design for the trajectory tracking in four wheeled mobile robots need some improvement.
- Open Access
- This is an open access article distributed under the CC BY-NC license.
Cite this article
TY - CONF AU - Dimas Maulana AU - Yusuf Fuad AU - Yuliani Puji Astuti PY - 2018/12 DA - 2018/12 TI - The Control Design for Trajectory Tracking of Four-wheeled Mobile Robot using Model Predictive Control: A Preliminary Study BT - Proceedings of the International Conference on Science and Technology (ICST 2018) PB - Atlantis Press SP - 508 EP - 511 SN - 2589-4943 UR - https://doi.org/10.2991/icst-18.2018.106 DO - https://doi.org/10.2991/icst-18.2018.106 ID - Maulana2018/12 ER -