Optimal Parameter Tuning in a Predictive Nonlinear Control Method for a Mobile Robot

Abstract

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 (K_x) 2) deflection parameter for the distance across traveling direction of the mobile robot (K_y) and 3) deflection parameter for the steering angle of the mobile robot (K_θ). 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.