Journals Information
Universal Journal of Control and Automation(CEASE PUBLICATION) Vol. 5(1), pp. 1 - 11
DOI: 10.13189/ujca.2017.050101
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Comparative Study of PI Controller and Model Based Predictive Control for Mobile Robot
Mendili Manel 1,*, Bouani Faouzi 2
1 National Engineering School of Tunis, University of Tunis El Manar, Tunisia
2 Laboratory of Analysis, Design and Control of Systems, LR11ES20, Tunis, Tunisia
ABSTRACT
This paper focuses on resolving the trajectory tracking problem of two wheeled mobile robot. We begin by presenting the kinematic model of the robot which is the base of the control law then we present a PI controller and a model predictive controller to solve the problem of trajectory tracking. We performed a comparison between the performances of the classical PI controller and the predictive controller which is an interesting approach that considers an explicit performance criterion and minimizes it during the computation of the control law. Simulation results are provided in order to show the effectiveness of model predictive control in the resolution of trajectory tracking problem.
KEYWORDS
Two Wheeled Mobile Robot, Trajectory Tracking, PI controller, Model-based Predictive Control
Cite This Paper in IEEE or APA Citation Styles
(a). IEEE Format:
[1] Mendili Manel , Bouani Faouzi , "Comparative Study of PI Controller and Model Based Predictive Control for Mobile Robot," Universal Journal of Control and Automation(CEASE PUBLICATION), Vol. 5, No. 1, pp. 1 - 11, 2017. DOI: 10.13189/ujca.2017.050101.
(b). APA Format:
Mendili Manel , Bouani Faouzi (2017). Comparative Study of PI Controller and Model Based Predictive Control for Mobile Robot. Universal Journal of Control and Automation(CEASE PUBLICATION), 5(1), 1 - 11. DOI: 10.13189/ujca.2017.050101.