基于模型预测控制的两轮移动机器人最优跟踪控制

2010 11th IEEE International Workshop on Advanced Motion Control (AMC) Pub Date : 2010-03-21 DOI:10.1109/AMC.2010.5464088

S. Akiba, T. Zanma, M. Ishida

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引用次数: 8

摘要

针对具有非完整约束的两轮移动机器人，提出了一种基于模型预测控制的最优跟踪控制方法。该方法在满足输入和状态的约束条件下，可以得到最优的控制策略。将其动力学建模为一个混合动力系统，以便对其进行模型预测控制。仿真和实验结果验证了该方法的有效性。

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Optimal tracking control of two-wheeled mobile robots based on model predictive control

This paper presents an optimal tracking control using model predictive control for a two-wheeled mobile robot with a nonholonomic constraint. In the proposed method, the optimized control strategy can be obtained while satisfying some constraints imposed on input and state. The dynamics is modeled as a hybrid dynamical system so that the model predictive control can be applied to it. Some simulation and experimental results illustrate the effectiveness of the proposed method.

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2010 11th IEEE International Workshop on Advanced Motion Control (AMC)

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