Robust Predictive Trajectory Tracking Control Method for Wheeled Mobile Robot

被引：0

作者：

Chen, Chen ^{[1
]}

Li, Sheng ^{[1
]}

Xu, Wenze ^{[1
]}

Mei, Yulin ^{[1
]}

Zhang, Xueting ^{[1
]}

机构：

[1] Nanjing Univ Sci & Technol, Sch Automat, Nanjing 210094, Jiangsu, Peoples R China

来源：

2021 PROCEEDINGS OF THE 40TH CHINESE CONTROL CONFERENCE (CCC) | 2021年

关键词：

kinematic model; augmented state space; predictive control; robust predictive control;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Aiming at the problem that the tracking performance of mobile robot is degraded due to the sampling time error Delta T, a robust predictive control trajectory tracking method is studied. Firstly, the augmented kinematics model of mobile robot is established, and the model is expressed as multi model. Then, the min max performance index optimization problem is transformed into a linear matrix inequality (LMI) problem, and a state feedback robust predictive controller (RMPC) is designed. The trajectory tracking control of mobile robot is realized. Its robust stability is verified by MATLAB simulation.

引用

页码：8781 / 8786

页数：6