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arXiv · 2201.00863

Adaptive Model Predictive Control of Wheeled Mobile Robots

Nikhil Potu Surya Prakash·Tamara Perreault·Trevor Voth·Zejun Zhong
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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.

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BibTeXRIS

Nikhil Potu Surya Prakash, Tamara Perreault, Trevor Voth, Zejun Zhong. 2022-01-03. Adaptive Model Predictive Control of Wheeled Mobile Robots. https://arxiv.org/abs/2201.00863

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