سال انتشار: ۱۳۹۰

محل انتشار: یازدهمین کنفرانس سیستم های فازی ایران

تعداد صفحات: ۶

نویسنده(ها):

Zahra Sinaeefar – Department of Electrical Engineering, Iran University of Science and Technology, Tehran 16846-13114, Iran

چکیده:

This paper presents Nonlinear Model-based Predictive Control (NMPC) of Wheeled Mobile Robots (WMRs) based on a discrete-time fuzzy model to approximate the dynamics of the robot and the actuator. The parameters of the fuzzy model are adjusted on-line by using gradient descent algorithm and recursive least square estimation method in order to cope with uncertainties in the system. Moreover, by tuning the weights in the cost function of the NMPC, better tracking error of the WMR can be obtained. The simulation results show that the proposed method can effectively control a type (2,0) WMR with a good performance