摘要
轮式移动机器人是典型的非完整约束系统.本文基于滚动时域控制策略研究轮式移动机器人的路径跟踪问题.为了既能够保证移动机器人渐近收敛到期望轨迹,又能够保证在线求解的优化问题的滚动可行性,参考轨迹被选为优化问题中的终端等式约束.仿真结果验证了所提出的控制策略的有效性.
A wheeled mobile robot is a system with nonholonomic constraints, which path following problems have been studied intensively. Receding horizon control for path following problems of wheeled mobile robots is considered in this paper, where the reference path is chosen as the terminal region. Both the asymptotic convergence to the reference path and recursive feasibility of the involved optimization problem are investigated. The effectiveness of the applied control strategy is verified by simulation results.
出处
《控制理论与应用》
EI
CAS
CSCD
北大核心
2017年第4期424-432,共9页
Control Theory & Applications
基金
Supported by National Natural Science Foundation of China(61573165,61520106008)
关键词
模型预测控制
非线性约束系统
轮式移动机器人
路径跟踪问题
model predictive control
constrained nonlinear systems
wheeled mobile robots
path following problems
