Terminal Constrained MPC Based Trajectory Tracking Control for Wheeled Mobile Robots
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.
model predictive controlterminal constraintswheeled mobile robotstrack tracking