基于终端约束MPC的轮式移动机器人轨迹跟踪控制
Terminal Constrained MPC Based Trajectory Tracking Control for Wheeled Mobile Robots
徐佳宝 1张国良 1罗国攀1
作者信息
- 1. 四川轻化工大学自动化与信息工程学院,宜宾 644000;四川轻化工大学人工智能四川省重点实验室,宜宾 644000
- 折叠
摘要
针对轮式移动机器人具有非线性特性和时域约束从而导致跟踪精度较低的问题,提出了一种终端约束MPC(model predictive control)的控制方案.首先,将轮式移动机器人的状态误差方程作为预测模型;其次,在成本函数中加入终端约束,设计了合适的终端域和终端惩罚矩阵,迫使系统在有限时域内跟踪上期望轨迹;然后,利用Lyapunov稳定性框架,建立终端约束MPC控制方案在系统中可行性和稳定性的充分条件;最后,通过在圆形及双移线两种工况下与传统模型预测控制进行对比实验,验证了终端约束MPC控制方案的有效性.仿真表明,相比于传统模型预测控制,终端约束MPC在预测范围内更好地满足了约束条件,从而提高了系统的稳定性和跟踪精度.
Abstract
In response to the problem of low tracking accuracy in wheeled mobile robots due to their non-linear characteristics and time-domain constraints,a terminal constraint MPC(model predictive control)scheme is proposed.Firstly,the state error equation of the wheeled mobile robot is used as the prediction model.Secondly,the terminal constraint is added to the cost function,and appropriate terminal regions and terminal penalty matrices are designed,forcing the system to track the desired trajectory within a finite time domain.Next,using the Lyapunov stability framework,sufficient conditions for the feasibility and stability of the terminal constraint MPC control scheme in the system are established.Finally,by comparing the pro-posed method with traditional model predictive control in circular and double-line motion conditions,the ef-fectiveness of the terminal constraint MPC control scheme is verified.Simulations show that,compared to traditional model predictive control,the terminal constraint MPC better satisfies the constraint conditions within the prediction range,thereby improving the system's stability and tracking accuracy.
关键词
模型预测控制/终端约束/轮式移动机器人/轨迹跟踪Key words
model predictive control/terminal constraints/wheeled mobile robots/track tracking引用本文复制引用
基金项目
四川省重点研发项目(2023YFG0196)
四川省应用基础研究项目(2019Y0413)
四川轻化工大学研究生创新基金项目(Y2022142)
出版年
2024
NETL
NSTL
维普
万方数据