Modeling and simulation for heavy-duty mecanum wheel platform using model predictive control
This paper presents a study on a control system for a heavy-duty four Mecanum wheel platform. A mathematical model for the system is synthesized for the purpose of examining system behavior, including Mecanum wheel kinematics, AC servo motor, gearbox, and heavy duty load. The system is tested for...
| Main Authors: | , , , , , , |
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| Format: | Conference or Workshop Item |
| Language: | English English |
| Published: |
IOP Publishing
2016
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| Subjects: | |
| Online Access: | http://irep.iium.edu.my/54677/ http://irep.iium.edu.my/54677/ http://irep.iium.edu.my/54677/ http://irep.iium.edu.my/54677/2/54677-Modeling%20and%20simulation%20for%20heavy-duty%20mecanum%20wheel.pdf http://irep.iium.edu.my/54677/1/54677-Modeling%20and%20simulation%20for%20heavy-duty%20mecanum%20wheel_SCOPUS.pdf |
| Summary: | This paper presents a study on a control system for a heavy-duty four Mecanum wheel
platform. A mathematical model for the system is synthesized for the purpose of examining
system behavior, including Mecanum wheel kinematics, AC servo motor, gearbox, and heavy
duty load. The system is tested for velocity control, using model predictive control (MPC), and
compared with a traditional PID setup. The parameters for the controllers are determined by
manual tuning. Model predictive control was found to be more effective with reference to a linear
velocity |
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