Modelación y control predictivo de un robot móvil con centro de masa desplazado.

Abstract

In this work, the implementation of trajectory tracking in the plane (x, y) of a unicycletype mobile robot was proposed through the application of the model-based predictive

control strategy (MPC), for which it was necessary to know previously the kinematic and

dynamic model considering a centre of mass displaced laterally of the axis that joins the

two wheels; parameters that allowed to establish and formulate the control scheme. The

control algorithms were

implemented in the AKASHA single-cell mobile robot (noncommercial),

reference speeds were considered as control signals to the system, as is common in commercial robots. In addition, the model has an adequate structure for the design of control laws. The results obtained through simulations and experimentally, showed that the single-unit mobile robot converges to the desired trajectory according to the Predictive Control algorithms implemented, reducing the errors that arise due to restrictions and other concurrent factors in the movement of the mobile robot towards the desired path. As it will be seen in the present project, there is no single methodology around the implementation of predictive controllers; however, it must be considered that the dynamic model of a robot or plant obtained previously to the application of an MPC algorithm must be sufficiently precise to be efficient and represent the same behaviour of the real system; The more inaccurate the model, the greater the error in control.