基于预测控制的非连续路段下移动机器人的轨迹跟踪

Trajectory Tracking of Mobile Robot Under Discontinuous Stretch Based on Predictive Controller

针对非连续路段下的轨迹跟踪问题,设计了基于观测型的预测控制器;首先建立了移动机器人的运动学模型,根据机器人的运动学模型得出了其位姿误差微分方程;然后在轨迹跟踪问题的基础上,设计了系统的观测模型,通过将预测控制器与系统的观测模型结合,设计了观测型预测控制器;最后在MATLAB环境下,利用所设计的控制器对移动机器人在非连续路段下的轨迹跟踪问题进行仿真,并将仿真结果与PID控制器控制的仿真结果进行对比,由仿真结果可以看出,所设计的控制器具有很好的鲁棒性、快速性及稳定性,可适用于移动机器人的轨迹跟踪的研究。

Aiming at the trajectory tracking problem under discontinuous stretch, the predictive controller based on observation is de- signed. Firstly, the kinematics model of the mobile robot is established, and the position errors differential equation is achieved through the kinematics model of the mobile robot; And then the observation model of the system is designed based on the trajectory tracking problem, through the connection between the predictive controller and the observation model of the system, the observed predictive controller is de- signed. Finally, under the environment of MATLAB, the simulation of trajectory tracking of the mobile robot under discontinuous stretch is made through the designed controller in this paper, and this simulation result is compared with the simulation result of PID controller. The simulation results shows that the controller is designed in this paper with good robustness, rapidity and stability, which could be used for the study of the trajectory tracking of the mobile robot.