Amélia Caldeira, docente do Departamento de Matemática e investigadora no Laboratório de Engenharia Matemática, vai apresentar o artigo Model Predictive Control for Path-following of Nonholonomic Systems na conferência Controlo 2010
A comunicação resulta do seu projecto sobre modelos de previsão financiada pela Fundação para Ciência e a Tecnologia e o Fundo Europeu de Desenvolvimento Regional
Model Predictive Control for Path-following of Nonholonomic Systems
In this article we discuss the use of Model Predictive Control (MPC) to address the problem of path-following of nonholonomic systems. We argue that MPC can solve this problem in a effective and relatively easy way, and has several advantages relative to alternative approaches. We address the path-following problem by converting it into a trajectory-tracking problem and determine the speed profile at which the path is followed inside the optimization problems solved in the MPC algorithm. The MPC framework will solve a sequence of optimization problems that will find an initial point, a speed profile, and a feedback control to track the trajectory of a virtual reference vehicle, i.e., the MPC framework will find a feedback control to follow the path given. The method is illustrated in a simple differential-drive mobile robot.
A Controlo 2010 realiza-se em Coimbra, entre 8-10 de Setembro.
Instituto Superior de Engenharia do Porto