基于MPC与非线性控制算法的智能移动平台轨迹跟踪控制对比研究
Comparative Analysis of Trajectory Tracking Control for Intelligent Mobile Platforms Based on MPC and Nonlinear Control Algorithms
古训 1彭傲雪 1陈珍珍 1傅泽伟2
作者信息
- 1. 贵阳学院 电子信息工程学院,贵州 贵阳 550005
- 2. 国家电网天津市电力公司高压分公司,天津 300143
- 折叠
摘要
随着经济和科技的持续进步,智能移动平台已被广泛应用于工业、农业和军事等领域.常见的轨迹跟踪控制算法包括模型预测控制算法和基于模型的非线性控制算法两种,两者各有优势,均取得了较好的控制效果.以具有阿克曼转向模型的智能移动平台为研究对象,分别设计了模型预测控制器及非线性控制器,并从圆形轨迹跟踪和移动避障效果两个方面进行仿真对比,给出两种常见算法的适用条件,以期对后续的相关工作提供思路和指导.
Abstract
With the incessant progression of economy and technology,intelligent mobile platforms have been extensively deployed in numerous fields such as industry,agriculture,and military.Prevalent trajectory tracking control algorithms include model predictive control(MPC)and model-based nonlinear control algorithms.Both algorithms possess their advantages and have achieved commendable performance.This paper takes the intelligent mobile platform with Ackerman steering model as the research object.It designs the model predictive controller and nonlinear controller re-spectively,and conducts a simulation comparison from the perspectives of circular trajectory tracking and mobile obstacle avoidance effects.The paper gives the applicable conditions of the two common algorithms with the aim of providing in-sights and guidance for subsequent related study.
关键词
智能移动平台/轨迹跟踪/模型预测控制/非线性控制Key words
Intelligent mobile platforms/Trajectory tracking/Model predictive control/Nonlinear control引用本文复制引用
出版年
2024
NETL
NSTL
万方数据