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...
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| Format: | Conference or Workshop Item |
| Language: | English English |
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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 |
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iium-54677 |
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eprints |
| spelling |
iium-546772017-07-03T04:41:35Z http://irep.iium.edu.my/54677/ Modeling and simulation for heavy-duty mecanum wheel platform using model predictive control Fuad, A. F.M. Mahmood, Iskandar Al-Thani Ahmad, Salmiah Norsahperi, N. M.H. Toha, Siti Fauziah Akmeliawati, Rini Darsivan, Fadly Jashi T Technology (General) TL Motor vehicles. Aeronautics. Astronautics 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 IOP Publishing 2016-04-03 Conference or Workshop Item PeerReviewed application/pdf en http://irep.iium.edu.my/54677/2/54677-Modeling%20and%20simulation%20for%20heavy-duty%20mecanum%20wheel.pdf application/pdf en http://irep.iium.edu.my/54677/1/54677-Modeling%20and%20simulation%20for%20heavy-duty%20mecanum%20wheel_SCOPUS.pdf Fuad, A. F.M. and Mahmood, Iskandar Al-Thani and Ahmad, Salmiah and Norsahperi, N. M.H. and Toha, Siti Fauziah and Akmeliawati, Rini and Darsivan, Fadly Jashi (2016) Modeling and simulation for heavy-duty mecanum wheel platform using model predictive control. In: 3rd International Conference on Mechanical, Automotive and Aerospace Engineering 2016 (ICMAAE’16), 25th-27th July 2016, Kuala Lumpur, Malaysia. http://iopscience.iop.org/article/10.1088/1757-899X/184/1/012050/pdf 10.1088/1757-899X/184/1/012050 |
| repository_type |
Digital Repository |
| institution_category |
Local University |
| institution |
International Islamic University Malaysia |
| building |
IIUM Repository |
| collection |
Online Access |
| language |
English English |
| topic |
T Technology (General) TL Motor vehicles. Aeronautics. Astronautics |
| spellingShingle |
T Technology (General) TL Motor vehicles. Aeronautics. Astronautics Fuad, A. F.M. Mahmood, Iskandar Al-Thani Ahmad, Salmiah Norsahperi, N. M.H. Toha, Siti Fauziah Akmeliawati, Rini Darsivan, Fadly Jashi Modeling and simulation for heavy-duty mecanum wheel platform using model predictive control |
| description |
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 |
| format |
Conference or Workshop Item |
| author |
Fuad, A. F.M. Mahmood, Iskandar Al-Thani Ahmad, Salmiah Norsahperi, N. M.H. Toha, Siti Fauziah Akmeliawati, Rini Darsivan, Fadly Jashi |
| author_facet |
Fuad, A. F.M. Mahmood, Iskandar Al-Thani Ahmad, Salmiah Norsahperi, N. M.H. Toha, Siti Fauziah Akmeliawati, Rini Darsivan, Fadly Jashi |
| author_sort |
Fuad, A. F.M. |
| title |
Modeling and simulation for heavy-duty mecanum wheel
platform using model predictive control |
| title_short |
Modeling and simulation for heavy-duty mecanum wheel
platform using model predictive control |
| title_full |
Modeling and simulation for heavy-duty mecanum wheel
platform using model predictive control |
| title_fullStr |
Modeling and simulation for heavy-duty mecanum wheel
platform using model predictive control |
| title_full_unstemmed |
Modeling and simulation for heavy-duty mecanum wheel
platform using model predictive control |
| title_sort |
modeling and simulation for heavy-duty mecanum wheel
platform using model predictive control |
| publisher |
IOP Publishing |
| publishDate |
2016 |
| url |
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 |
| first_indexed |
2023-09-18T21:17:20Z |
| last_indexed |
2023-09-18T21:17:20Z |
| _version_ |
1777411650308014080 |