Tianmu Cheng: Design of a Model Predictive Controller for a Mobile FPGA-Based Robotic Platform (Projektarbeit)

28.08.2020, 10.30 Uhr

Einladung zur Präsentation von HerrnTianmu Cheng

Thema: Design of a Model Predictive Controller for a Mobile FPGA-Based Robotic Platform

Projekt: Projektarbeit

Betreuer: Gökhan Akgün, Julian Haase

Abstract: For decades, model predictive control (MPC) has been one of the most promising control strategies in industrial processes. Due to its significant advantages, it has been extended to many areas of robotics research, especially robot control. Therefore, the purpose of this article is to review the motor control of a Wheeled Mobile Robot (WMR) using MPC. In this work, I build a single-motor model and a 4-motor model to represent the electronic motor and the whole WMR. Then, I use Simulink ® , MATLAB ® , and C language to implement the control system and compare the performance of the controller in different platforms. Finally, I choose the C language to be the main control platform, which has higher performance, less memory cost, and less execution time than the other platforms.