Trajectory tracking for wheeled mobile robots via model predictive control with softening constraints

被引：59

作者：

Yang, Hongjiu ^{[1
]}

Guo, Mingchao ^{[1
]}

Xia, Yuanqing ^{[2
]}

Cheng, Lei ^{[1
]}

机构：

[1] Yanshan Univ, Inst Elect Engn, Qinhuangdao 066004, Peoples R China

[2] Beijing Inst Technol, Sch Automat, Beijing 100081, Peoples R China

来源：

IET CONTROL THEORY AND APPLICATIONS | 2018年 / 12卷 / 02期

关键词：

mobile robots; trajectory control; predictive control; linearisation techniques; feedforward; feedback; numerical analysis; trajectory tracking; model predictive control; softening constraints; nonholonomic wheeled mobile robot; external disturbances; real-time robustness; linearised tracking error model; system behaviour prediction; feedforward controller; feedback controller; control increment constraints; numerical simulations; COLLISION-AVOIDANCE; RESILIENT CONTROL; NEURAL-NETWORK; SYSTEMS; DESIGN; IMPLEMENTATION; STABILIZATION; COMPENSATION;

D O I：

10.1049/iet-cta.2017.0395

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this study, model predictive control with softening constraints is applied to a non-holonomic wheeled mobile robot for trajectory tracking in the presence of external disturbances. In order to improve real-time robustness of the wheeled mobile robot, a linearised tracking error model is used to predict system behaviours. The proposed control scheme contains a feedforward controller and a feedback controller, in which both control constraints and control increment constraints are considered to achieve trajectory tracking smoothly. Finally, numerical simulations demonstrate the performances of the control scheme.

引用

页码：206 / 214

页数：9

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