Yaw Stability Control of MPC Emergency Supplies Transportation Robot Based on Composite Filtering

Abstract

The yaw stability control of the emergency supplies transportation robot is a key technology to realize the precision of supplies distribution. To ensure the yaw stability of the emergency supplies transportation robot during operation, this paper proposes a model predictive control (MPC) emergency supplies transportation robot yaw stability control method based on composite filtering. Firstly, the dynamics model and tire model of the emergency supplies transportation robot are established. Secondly, Kalman filtering is used to reduce the noise of the state variables of the robot system in the model part. Thirdly, the model predictive controller is designed for the yaw stability control of the emergency supplies transportation robot, and an extended state observer (ESO) is introduced to estimate the external disturbances. Finally, a Simulink/ CarSim co-simulation platform is built and simulation experiments are conducted under different road conditions. Through simulation, the proposed yaw stability control method of the MPC emergency supplies transportation robot based on composite filtering can make the emergency supplies transportation robot maintain good yaw stability.