This paper presents a predictive control of omnidirectional mobile robot with three independent driving wheels based on kinematic\nand dynamic models. Two predictive controllers are developed.The first is based on the kinematicmodel and the second is founded\non the dynamic model.The optimal control sequence is obtained by minimizing a quadratic performance criterion. A comparison\nhas been done between the two controllers and simulations have been done to show the effectiveness of the predictive control with\nthe kinematic and the dynamic models.
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