Trajectory tracking of two-wheel balanced wheelchair based on model predictive control
In order to achieve the autonomous tracking travel of the two-wheel balanced wheelchair,a dynamic model of the two-wheel balanced wheelchair is established based on the Euler-Lagrange equation,and the motion relationship is established through the differential geometric model.The Pure Pursuit algorithm is used to plan the target motion state of the system,and model predictive control(MPC)and linear quadratic optimal control(LQR)are used to balance and track the motion state of the two-wheel balanced wheelchair.The simulation system for the control of the two-wheel balanced wheelchair is built through software Simulink to verify the trajectory tracking effect and tracking stability of the two-wheel balanced wheelchair system when LQR and MPC controllers are used.The simulation results show that the dynamic response speed of the MPC controller is faster than that of the LQR controller,and the MPC controller can quickly restore the stable state of the vehicle body when acting on the vehicle body;when tracking the trajectory,the MPC controller has better stable control of the vehicle body inclination angle and speed at the starting and ending positions than the LQR controller.
万方数据
维普
