摘要
轮式移动机器人的轨迹跟踪问题一直是机器人和控制领域的研究热点。在实际应用时,其控制器的设计通常还需考虑各种约束的影响,如输入限幅等。针对绝大多数商用移动机器人力矩层不开放的情况,论文采用加速度-伪动力学控制(Acceleration-Level Pseudo-Dynamic Control,ALPDC)框架来实现移动机器人的轨迹跟踪,并提出了一种基于固定时间稳定理论的移动机器人非线性模型预测控制(Nonlinear Model Predictive Control,NMPC)方法。仿真结果验证了所提方法的有效性。
The trajectory tracking problem of wheeled mobile robots has always been a research hotspot in the field of robotics and control.In practical application,the design of its controller usually also needs to consider the influence of various constraints,such as input.Since the torque layer of most commercial mobile robots is not open,this paper adopts the acceleration-pseudo-dynamics framework to realize the trajectory tracking of mobile robots,and proposes a nonlinear model predictive control(NMPC)method for mobile robots based on the fixed-time stability theory.The simulation results verify the effectiveness of the proposed method.
作者
刘甜田
陆群
赵伟
夏菽兰
苏春翌
LIU Tiantian;LU Qun;ZHAO Wei;XIA Shulan;SU Chunyi(School of Electrical Engineering,Yancheng Institute of Technology,Yancheng 224000;Gina Cody School of Engineering and Computer,Concordia University,Montreal,H3G 1M8)
出处
《计算机与数字工程》
2022年第11期2423-2427,2477,共6页
Computer & Digital Engineering
基金
国家自然科学基金项目(编号:62003292)
盐城工学院校级科研项目(编号:xjr2019017)
盐城工学院研究生创新工程项目(编号:LWPY2212)资助。
关键词
轮式移动机器人
轨迹跟踪
非线性模型预测控制
加速度-伪动力学控制
固定时间稳定理论
wheeled mobile robot
trajectory tracking
nonlinear model predictive control
acceleration-level pseudo-dynamic control
fixed-time stability theory
