Robust Tube-based MPC for Constrained Mobile Robots under Slip Conditions

被引：8

作者：

Gonzalez, R. ^{[1
]}

Fiacchini, M. ^{[2
]}

Guzman, J. L. ^{[1
]}

Alamo, T. ^{[2
]}

机构：

[1] Univ Almeria, Dept Lenguajes & Comp, Almeria, Spain

[2] Univ Seville, Ingn Sistemas Automat, Seville, Spain

来源：

PROCEEDINGS OF THE 48TH IEEE CONFERENCE ON DECISION AND CONTROL, 2009 HELD JOINTLY WITH THE 2009 28TH CHINESE CONTROL CONFERENCE (CDC/CCC 2009) | 2009年

关键词：

MODEL-PREDICTIVE CONTROL; LINEAR-SYSTEMS; TIME;

D O I：

10.1109/CDC.2009.5400508

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 focuses on the design of a robust tube-based Model Predictive Control law for the control of constrained mobile robots. A time-varying trajectory tracking error model has been used, where uncertainties are assumed to be bounded and additive. The proposed solution to the control problem is a tube-based MPC ensuring robustness and stability. A comparative simulation example is presented showing the promising behavior of the robust MPC controller.

引用

页码：5985 / 5990

页数：6

共 21 条

[1]

[Anonymous], 2004, Introduction to Autonomous Mobile Robots

[2]

[Anonymous], 2004, MULTIPARAMETRIC TOOL

[3]

Bemporad A, 1999, LECT NOTES CONTR INF, V245, P207

[4]

Bemporad A., 2002, IEEE Tran, on Automatic Control, V47, P19741985

[5] Set invariance in control [J].

Blanchini, F .

AUTOMATICA, 1999, 35 (11) :1747-1767

[6]

Boyd S., 1994, LINEAR MATRIX INEQUA

[7]

Camacho E. F., 2007, MODEL PREDICTIVE CON

[8]

Canudas C., 1997, THEORY ROBOT CONTROL

[9] Systems with persistent disturbances: predictive control with restricted constraints [J].

Chisci, L ;

Rossiter, JA ;

Zappa, G .

AUTOMATICA, 2001, 37 (07) :1019-1028

[10]

GAHINET P, 2004, LMI CONTROL TOOLBOX

← 1 2 3 →