Abstract
In the process of motion of the ground, the mobile trolley has branches of motion in the direction of the axis of X, Y and Z. However, considering that the mobile robot only has the ability of adjustment of motion on the axis of X and Y, it is said that the mode of the motion of this kind of mobile robots with constraints is not complete. The method of control used in the past is the constraint method of predictive control. The whole mobile robot can be considered as a system including three inputs and three outputs. The motion of the mobile robot in the direction of the axis of Z can be considered as a kind of disturb from the inputs with a certain effect on the axis of X and Y, but the control of the output is converted to the three parts of control used in the motion on the axis of X and Y and the control of the input of disturbance. The three systems with one independent input and one independent output are considered as the predictive control on the system including three inputs and three outputs. In this paper, the parameters of the predictive model are optimized in the way similar to an adaptive fuzzy control and based on errors and change of errors.
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