Comparison of kinematic and dynamic model based linear model predictive control of non-holonomic robot for trajectory tracking: Critical Trade-offs Addressed

Kaustav Mondal, Armando A. Rodriguez, Sai Sravan Manne, Nirangkush Das, Brent Wallace

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Scopus citations

Abstract

This paper presents a hierarchical inner-outer control structure with model predictive controller (MPC) in the outer-loop and a PI controller in the inner loop, to perform trajectory tracking on non-holonomic robots. Two different MPC formulations are considered: (1) kinematic model based MPC which assumes that inner-loop has infinite bandwidth (2) dynamic model based MPC which takes into consideration the bandwidth limitations imposed by inner-loop. In order to emphasize the importance of dynamic model based MPC over kinematic model based MPC, critical tradeoffs involving tracking errors vs inner-loop bandwidth, for varying reference velocities, are studied. The novelty of this paper lies in the systematic approach taken to answer: (1) when is a kinematic model based MPC sufficient, (2) when is a dynamic model based MPC necessary, to obtain good trajectory tracking properties. Both, simulation and hardware results are taken into consideration.

Original languageEnglish (US)
Title of host publicationProceedings of the IASTED International Conference on Mechatronics and Control, MC 2019
PublisherACTA Press
Pages9-17
Number of pages9
ISBN (Electronic)9780889869967
DOIs
StatePublished - 2019
Event2019 IASTED International Conference on Mechatronics and Control, MC 2019 - Anaheim, United States
Duration: Dec 6 2019Dec 7 2019

Publication series

NameProceedings of the IASTED International Conference on Mechatronics and Control, MC 2019

Conference

Conference2019 IASTED International Conference on Mechatronics and Control, MC 2019
CountryUnited States
CityAnaheim
Period12/6/1912/7/19

Keywords

  • Convex Optimization
  • Linear Model Predictive Control
  • Mobile Robot
  • Non-holonomic system
  • Quadratic Programming
  • Trajectory Tracking Control

ASJC Scopus subject areas

  • Mechanical Engineering
  • Electrical and Electronic Engineering

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