KOREASCHOLAR

The model predictive controller performance of the mobile robot is set to an arbitrary value because it is difficult to select an accurate value with respect to the controller parameter. The general model predictive control uses a quadratic cost function to minimize the difference between the reference tracking error and the predicted trajectory error of the actual robot. In this study, we construct a predictive controller by transforming it into a quadratic programming problem considering velocity and acceleration constraints. The control parameters of the predictive controller, which determines the control performance of the mobile robot, are used a simple weighting matrix Q, R without the reference model matrix Ar by applying a quadratic cost function from which the reference tracking error vector is removed. Therefore, we designed the predictive controller 1 and 2 of the mobile robot considering the constraints, and optimized the controller parameters of the predictive controller using a genetic algorithm with excellent optimization capability.

ABSTRACT
 1. 서 론
 2. 모바일로봇의 기구학 및 궤적추적제어
 3. 유전알고리즘을 사용한 예측제어기설계
  3.1 속도 제한조건을 갖는 예측제어기 1
  3.2 속도 및 가속도 제한조건을 갖는 예측제어기 2
  3.3 유전알고리즘에 의한 가중치 행렬 최적화
 4. 모의실험
  4.1 속도 제한조건을 갖는 예측제어기 1의 성능평가
  4.2 속도와 가속도 제한조건을 갖는 예측제어기 2의 성능평가
 5. 결 론
 References

• 박진현(Gyeongnam Nat‘l Univ. of Science and Technology) | Jin-Hyun Park
• 최영규(Dept. of Electrical Engineering, Pusan National University) | Young-Kiu Choi Corresponding Author