The problem of stabilizing wheeled mobile robots (WMR) subject to wheel slippage is studied.
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•The problem of stabilizing wheeled mobile robots (WMR) subject to wheel slippage is studied. •Model predictive control (MPC) used, thus a sequence of hybrid optimal control problems needs to be solved. •Using recently developed embedding techniques, hybrid Hybrid Model Predictive Control for Stabilization of Wheeled Mobile Robots Subject to Wheel Slippage Shangming Wei and Miloš Žefran Dept. of Electrical and Computer Eng., University of Illinois at Chicago, USA Kasemsak Uthaichana and Raymond A. DeCarlo School of Electrical and Computer Engineering, Purdue University, USA W M R Stabilization Problem Sm ooth O ptim al C ontrol Problem H ybrid O ptim al C ontrol Problem C ontrol Input Em bedding M PC NonlinearProgramming
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Hybrid Model Predictive Control for Stabilization of Wheeled Mobile Robots Subject to Wheel Slippage. - PowerPoint PPT Presentation
Transcript of The problem of stabilizing wheeled mobile robots (WMR) subject to wheel slippage is studied.
• The problem of stabilizing wheeled mobile robots (WMR) subject to wheel slippage is studied.
• Model predictive control (MPC) used, thus a sequence of hybrid optimal control problems needs to be solved.
• Using recently developed embedding techniques, hybrid optimal control converted to a smooth problem.
• The numerical techniques that lead to efficient and robust MPC algorithms are discussed.
Hybrid Model Predictive Controlfor Stabilization of Wheeled Mobile Robots
Subject to Wheel Slippage
Shangming Wei and Miloš ŽefranDept. of Electrical and Computer Eng., University of Illinois at Chicago, USA
Kasemsak Uthaichana and Raymond A. DeCarloSchool of Electrical and Computer Engineering, Purdue University, USA
WMR Stabilization Problem
Smooth Optimal Control Problem
Hybrid Optimal Control Problem
Control Input
Embedding
MPC
Nonlinear Programming
