0% Complete
صفحه اصلی
/
سی و سومین کنفرانس بین المللی مهندسی برق
Posture Stabilization of Tractor-Trailer Wheeled Mobile Robot Using Nonlinear MPC
نویسندگان :
Kevin Babakhanloo
1
Khalil Alipour
2
Bahram Tarvirdizadeh
3
Majid Sorouri
4
Mohammad Ghamari
5
1- دانشگاه تهران، دانشکده علوم و فنون نوین
2- دانشگاه تهران، دانشکده علوم و فنون نوین
3- دانشگاه تهران، دانشکده علوم و فنون نوین
4- Department of Electronic Engineering, Maynooth University, Maynooth, Co. Kildare, Ireland
5- Electrical Engineering Department, California Polytechnic State University
کلمات کلیدی :
Nonlinear Model Predictive Control (NMPC)،Particle Swarm Optimization (PSO)،Tractor-Trailer Wheeled Mobile Robots (TTWMRs)،Posture Stabilization،Energy Efficiency
چکیده :
This paper presents a novel control framework that overcomes the challenges of tractor-trailer wheeled mobile robot (TTWMRs) posture stabilization by integrating Nonlinear Model Predictive Control (NMPC) with an adaptive Particle Swarm Optimization (PSO) algorithm. Our framework addresses three critical challenges: the nonlinear dynamics of tractor-trailer systems, precise posture stabilization and parking maneuvers, and the prevention of jackknife conditions. We introduce a two-stage optimization approach where PSO first optimizes NMPC weights for positioning accuracy and then enhances energy efficiency while maintaining performance. The framework automatically adapts to different scenarios without manual tuning, making it particularly valuable for practical applications. Simulation results demonstrate exceptional performance with position errors below 1 cm and orientation errors under 0.01 radians across various parking scenarios. Compared to traditional methods, the framework significantly improves maneuverability and energy efficiency, making it an effective solution for autonomous systems in applications such as automated warehouses and industrial logistics.
لیست مقالات
لیست مقالات بایگانی شده
Secrecy Sum Rate Analysis and Power Allocation with OSTBC and Artificial Noise for MIMO Systems
Abdolrasoul Sakhaei Gharagezlou - Mahdi Nangir - Nima Imani - Amir Poorfaraj Liqvan
Multi-Bit Memory Architecture for In-memory Computing using In-Plane MTJ
Milad Ashtari Gargari - Nima Eslami - Mohammad Hossein Moaiyeri
Multi-agent H-Learning Based Cooperative Spectrum Sensing for Cognitive Radio Networks
Elaheh Karimpour Fard - Mahdi Nouri - Hamid Behroozi - Sima Sobhi-Givi
A Fault-Tolerant Strategy for Load Non-Interrupted Power Supply in CHB Converter Based on Modified Level Shift PWM
Farzaneh Aslani-Gaznag - Armin Panahi - Yousef Neyshabouri
Experimental Study of Pick and Place Operation for Packaging Using Delta Parallel Robot with Two-Fingered Gripper
Mona Mohades Mojtahedi - Arvin Mohammadi - Mehdi Tale Masouleh
Effective Rate Analysis of MISO Wireless Communication Systems over EGK Fading Channels
ّfereshteh Salimian Rizi - Abolfazl Falahati
بهبود پردازش وفقی فضا-زمان (STAP) در سیستمهای رادار هوابرد با استفاده از الگوریتمهای آگاه به تنک بودن (Sparsity) سیستم
علی شیخیان - سارا میهن دوست - نعمت الله عزتی - احسان مصطفی پور
Wake-Sleep Learning in R-STDP-Based Spiking Neural Networks to Avoid Catastrophic Forgetting
Mehrdad Baradaran - Katayoon Kobraei - Saeed Reza Kheradpisheh
Sum Rate Maximization in STAR-RIS Assisted D2D Communications
Mohammad Reza Kavianinia - Mohammad Javad Emadi
Robust Control System Design for an Industrial Heavy Duty Gas Turbine under Network-Induced Imperfections
Nasim Ensanseft - Ali Chaibakhsh
بیشتر
ثمین همایش، سامانه مدیریت کنفرانس ها و جشنواره ها - نگارش 42.8.0