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Adaptive Model Predictive Control of Wheeled Mobile Robots

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Author(s): Prakash, Nikhil Potu Surya; Perreault, Tamara; Voth, Trevor; Zhong, Zejun
Subject Terms:
Computer Science - Robotics; Computer Science - Artificial Intelligence; Electrical Engineering and Systems Science - Systems and Control
Document Type:
Working Paper
Online Access:
http://arxiv.org/abs/2201.00863

Additional Information
- Publication Date:
  2022
- Collection:
  Computer Science
- Abstract:
  In this paper, a control algorithm for guiding a two wheeled mobile robot with unknown inertia to a desired point and orientation using an Adaptive Model Predictive Control (AMPC) framework is presented. The two wheeled mobile robot is modeled as a knife edge or a skate with nonholonomic kinematic constraints and the dynamical equations are derived using the Lagrangian approach. The inputs at every time instant are obtained from Model Predictive Control (MPC) with a set of nominal parameters which are updated using a recursive least squares algorithm. The efficacy of the algorithm is demonstrated through numerical simulations at the end of the paper.
  Comment: 5 pages, 7 figures
- Accession Number:
  edsarx.2201.00863

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