4輪ロボットのためのフィードフォワード制御を用いた縦横制御系のモデリングと設計
Modeling and Design of Longitudinal and Lateral Control System with a FeedForward Controller for a 4 Wheeled Robot
4輪ロボットの縦方向・横方向の運動を外乱を考慮した非線形モデルで表し、PIDとフィードフォワード制御を組み合わせて外乱の影響を打ち消す制御系を設計した研究。
著者: Younes El koudia, Jarou Tarik, Abdouni Jawad, Sofia El Idrissi, Elmahdi Nasri
分類: cs.RO, cs.SY, eess.SY
原文アブストラクト
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.