基于积分模型预测控制的全向移动机器人轨迹跟踪研究

Research on trajectory tracking of omnidirectional mobile robot based on integral model predictive control

为了减小全向移动机器人在运行中所产生的稳态误差,提出了一种具有积分作用的模型预测控制方法,即积分模型预测控制(IMPC)。积分模型预测控制不仅能够保留模型预测控制中预测和优化的功能,并且可以抑制系统稳态误差,从而使控制器具有更好的鲁棒性和跟踪能力。为了验证积分模型预测控制的先进性,将积分模型预测控制器与传统模型预测控制器进行性能对比,采用四差速全向移动机器人作为模拟实验模型,测试了2种控制器在3种不同路径下的轨迹跟踪性能。测试结果证明,积分模型预测控制器比传统模型预测控制器拥有更好的跟踪性能,验证了所提出方法的有效性和先进性。

In order to reduce the steady-state errors caused by an omnidirectional mobile robot during movement,a model predictive control method with integral function is proposed,which is called integral model predictive control(IM-PC).Integral model predictive control not only preserves the predictive and optimization features of model predictive control,but also suppresses the steady-state error of the system,so that the controller has better robustness and tracking ability.In order to verify the advanced nature of the integral model predictive control,the performance of the integral model predictive controller is compared with the traditional model predictive controller.The trajectory tracking performance of the two controllers under three different paths is tested using a four-differential omnidirec-tional moving robot as a simulated experimental model.The test results prove that the integral model prediction con-troller has better tracking performance than the traditional model prediction controller,which validates the effective-ness and sophistication of the proposed method.