Hybrid model predictive control for stabilization of wheeled mobile robots subject to wheel slippage

被引：8

作者：

Wei, Shangming ^{[1
]}

Zefran, Milos ^{[1
]}

Uthaichana, Kasemsak ^{[2
]}

DeCarlo, Raymond A. ^{[2
]}

机构：

[1] Univ Illinois, Dept Elect & Comp Engn, Chicago, IL 60607 USA

[2] Purdue Univ, Sch Elect & Comp Engn, W Lafayette, IN 47907 USA

来源：

PROCEEDINGS OF THE 2007 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-10 | 2007年

关键词：

D O I：

10.1109/ROBOT.2007.363674

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper studies the problem of stabilizing wheeled mobile robots (WMRs) subject to wheel slippage to a predefined set. When slippage of the wheels can occur, WMRs can be modeled as hybrid systems. Model predictive control for such systems typically results in numerical methods of combinatorial complexity. We show that recently developed embedding techniques can be used to formulate numerical algorithms for the hybrid model predictive control (MPC) problem that have the same complexity as the MPC for smooth systems. We also discuss in detail the numerical techniques that lead to efficient and robust MPC algorithms. Examples are given to illustrate the effectiveness of the approach.

引用

页码：2373 / +

页数：2

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