arXiv Open Access 2023

Modeling and Design of Longitudinal and Lateral Control System with a FeedForward Controller for a 4 Wheeled Robot

Younes El koudia Jarou Tarik Abdouni Jawad Sofia El Idrissi Elmahdi Nasri

Lihat Sumber

Abstrak

The work show in this paper progresses through a sequence of physics-based increasing fidelity models that are used to design the robot controllers that respect the limits of the robot capabilities, develop a reference simple controller applicable to a large subset of tracking conditions, which include mostly non-invasive or highly dynamic movements and define path geometry following the control problem and develop both a simple geometric control and a dynamic model predictive control approach. In this paper, we propose for a nonlinear model with disturbance effect, the mathematical modeling of the longitudinal and lateral movements using PID with a feed-forward controller. This study proposes a feedforward controller to eliminate the disturbance effect.

Topik & Kata Kunci

cs.RO eess.SY

Penulis (5)

Younes El koudia

Jarou Tarik

Abdouni Jawad

Sofia El Idrissi

Elmahdi Nasri

Format Sitasi

APA MLA BibTeX

koudia, Y.E., Tarik, J., Jawad, A., Idrissi, S.E., Nasri, E. (2023). Modeling and Design of Longitudinal and Lateral Control System with a FeedForward Controller for a 4 Wheeled Robot. https://arxiv.org/abs/2301.09365

Akses Cepat

Lihat di Sumber

Informasi Jurnal

Tahun Terbit: 2023
Bahasa: en
Sumber Database: arXiv
Akses: Open Access ✓