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
收藏
页码：206 / 214
页数：9
相关论文
共 50 条
[21]   A self-tuning trajectory tracking controller for wheeled mobile robots [J].
Panahandeh, Pouya ;
Alipour, Khalil ;
Tarvirdizadeh, Bahram ;
Hadi, Alireza .
INDUSTRIAL ROBOT-THE INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH AND APPLICATION, 2019, 46 (06) :828-838
[22]   Fast trajectory tracking of wheeled mobile robots [J].
Ni H. ;
Wang H. ;
Yu L. .
Harbin Gongye Daxue Xuebao/Journal of Harbin Institute of Technology, 2020, 52 (10) :167-174
[23]   Trajectory Tracking Control of Differential Wheeled Mobile Robots Based on Rhombic Input Constraints [J].
Gong, Kai ;
Jia, Yingmin ;
Jia, Yuxin .
PROCEEDINGS OF THE 2021 INTERNATIONAL CONFERENCE ON ARTIFICIAL LIFE AND ROBOTICS (ICAROB 2021), 2021, :368-372
[24]   Nonlinear Disturbance Observer Incorporated Model Predictive Strategy for Wheeled Mobile Robot's Trajectory Tracking Control [J].
Peng, Jiguang ;
Xiao, Hanzhen ;
Lai, Guanyu .
INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS, 2024, 22 (07) :2251-2262
[25]   Neural Network-Based Adaptive Controller for Trajectory Tracking of Wheeled Mobile Robots [J].
Hassan, Najva ;
Saleem, Abdul .
IEEE ACCESS, 2022, 10 :13582-13597
[26]   Tracking Control and Stabilization of Wheeled Mobile Robots by Nonlinear Model Predictive Control [J].
Ma, M. -M. ;
Li, S. ;
Liu, X. -J. .
PROCEEDINGS OF THE 31ST CHINESE CONTROL CONFERENCE, 2012, :4056-4061
[27]   Explicit Model Predictive Control for Trajectory Tracking with Mobile Robots [J].
Maurovic, Ivan ;
Baotic, Mato ;
Petrovic, Ivan .
2011 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS (AIM), 2011, :712-717
[28]   Trajectory Tracking Control of Wheeled Mobile Robots Based on Disturbance Observer [J].
Huang, Dawei ;
Zhai, Junyong .
2015 CHINESE AUTOMATION CONGRESS (CAC), 2015, :1761-1765
[29]   An Efficient Model Predictive Control for Trajectory Tracking of Wheeled Inverted Pendulum Vehicles with Various Physical Constraints [J].
Yue, Ming ;
An, Cong ;
Sun, Jian-Zhong .
INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS, 2018, 16 (01) :265-274
[30]   Trajectory tracking control of wheeled mobile robots with skidding and time-varying delay [J].
Wang, Mengqi ;
Chen, Hua ;
Chen, Yun ;
Cao, Yuhan ;
Hou, Linyuan .
TRANSACTIONS OF THE INSTITUTE OF MEASUREMENT AND CONTROL, 2024, 46 (13) :2636-2646
12345