Modeling and simulation for heavy-duty mecanum wheel platform using model predictive control

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.

	PDF - Published Version Restricted to Registered users only Download (2MB) | Request a copy
	PDF (SCOPUS) - Supplemental Material Restricted to Registered users only Download (87kB) | Request a copy

Abstract

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

Item Type:	Conference or Workshop Item (Plenary Papers)
Additional Information:	3614/54677
Uncontrolled Keywords:	AC motors, Aerospace engineering, Predictive control systems, Wheels
Subjects:	T Technology > T Technology (General) T Technology > TL Motor vehicles. Aeronautics. Astronautics
Kulliyyahs/Centres/Divisions/Institutes (Can select more than one option. Press CONTROL button):	Kulliyyah of Engineering > Department of Mechanical Engineering Kulliyyah of Engineering > Department of Mechatronics Engineering
Depositing User:	Dr. Iskandar Al-Thani bin Mahmood
Date Deposited:	10 Feb 2017 15:22
Last Modified:	03 Jul 2017 12:41
URI:	http://irep.iium.edu.my/id/eprint/54677

Actions (login required)

View Item