基于模型预测控制的轨迹跟踪算法研究

Trajectory Tracking Algorithm Based on Model Predictive Control

针对轨迹跟踪问题,提出了一种基于模型预测控制的轨迹跟踪算法。首先,采用线性误差模型作为预测模型,通过对非线性系统进行线性化处理,得到需要的线性时变系统;然后,应用非线性运动学模型作为位置解算法,通过离散和连续轨迹函数,使得预测轨迹跟踪上期望轨迹;最后,采用仿真测试算法的性能,结果表明,基于模型预测控制的轨迹跟踪算法良好动态跟踪特性,实现轨迹跟踪的有效控制,达到预期的跟踪目标。

In order to solve the problems in tracking trajectory, this paper puts forward a trajectory tracking algorithm based on model predictive control. Firstly, by using the linear error model as the predictive model and linearizing the nonlinear system, the required linear variable system is obtained. Then, the position solution algorithm is selected by using the nonlinear kinematic model. The discrete and continuous trajectory function is used to realize prediction for trajectory tracking of the desired trajectory. Finally, the performance is tested by simulation experiments. The results show that the trajectory tracking algorithm based on model predictive control has good dynamic tracking performance, which can realize the effective control of trajectory tracking and achieve the expected tracking target.