Optimal Parameter Tuning in a Predictive Nonlinear Control Method for a Mobile Robot
D. Hazry and M. Sugisaka
DOI : 10.3844/ajassp.2006.1803.1809
American Journal of Applied Sciences
Volume 3, Issue 4
This study contributes to a new optimal parameter tuning in a predictive nonlinear control method for stable trajectory straight line tracking with a non-holonomic mobile robot. In this method, the focus lies in finding the optimal parameter estimation and to predict the path that the mobile robot will follow for stable trajectory straight line tracking system. The stability control contains three parameters: 1) deflection parameter for the traveling direction of the mobile robot (Kx) 2) deflection parameter for the distance across traveling direction of the mobile robot (Ky) and 3) deflection parameter for the steering angle of the mobile robot (Kθ). Two hundred and seventy three experimental were performed and the results have been analyzed and described herewith. It is found that by using a new optimal parameter tuning in a predictive nonlinear control method derived from the extension of kinematics model, the movement of the mobile robot is stabilized and adhered to the reference posture.
© 2006 D. Hazry and M. Sugisaka. This is an open access article distributed under the terms of the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original author and source are credited.