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A Smith-predictor-based generalised predictive controller for mobile robot path-tracking
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DOI：10.1016/S0967-0661(99)00025-8.png)
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Abstract
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This paper shows how to improve the robustness of mobile robot path tracking when predictive control algorithms are used. When uncertainties in a mobile robot are considered, it is shown how the classical generalised predictive controller (GPC) may lead to an unstable behaviour of the mobile robot. The equivalence between the GPC and a structure composed by an optimal predictor and a classical controller is given, and it is shown that use of a Smith predictor instead of an optimal predictor increases the robustness of the system. A new strategy, the Smith-predictor-based GPC, is proposed. Experimental tests carried out on a LABMATE mobile robe; validate the performance of the proposed controller. (C) 1999 Elsevier Science Ltd. All rights reserved.
Keywords:
mobile robots
path tracking
predictive controllers
dead time
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