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
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