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Modeling and Design of Longitudinal and Lateral Control System with a FeedForward Controller for a 4 Wheeled Robot
arXiv - EE - Systems and Control Pub Date : 2023-01-23 , DOI: arxiv-2301.09365
Younes El koudia, Jarou Tarik, Abdouni Jawad, Sofia El Idrissi, Elmahdi Nasri

The work show in this paper progresses through a sequence of physics-based increasing fidelity models that are used to design the robot controllers that respect the limits of the robot capabilities, develop a reference simple controller applicable to a large subset of tracking conditions, which include mostly non-invasive or highly dynamic movements and define path geometry following the control problem and develop both a simple geometric control and a dynamic model predictive control approach. In this paper, we propose for a nonlinear model with disturbance effect, the mathematical modeling of the longitudinal and lateral movements using PID with a feed-forward controller. This study proposes a feedforward controller to eliminate the disturbance effect.

中文翻译:

带有前馈控制器的四轮机器人纵向和横向控制系统的建模与设计

本文中的工作展示了一系列基于物理的保真度递增模型,这些模型用于设计机器人控制器,该机器人控制器遵守机器人能力的限制,开发适用于大量跟踪条件的参考简单控制器,其中包括主要是非侵入性或高度动态的运动,并根据控制问题定义路径几何形状,并开发简单的几何控制和动态模型预测控制方法。在本文中,我们提出了一个具有干扰效应的非线性模型,使用带有前馈控制器的 PID 对纵向和横向运动进行数学建模。本研究提出了一种前馈控制器来消除干扰影响。
更新日期:2023-01-24
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