基于人工目标的ugv鲁棒反馈线性化MPC

IF 3.1 3区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

Mechatronics Pub Date : 2025-06-14 DOI:10.1016/j.mechatronics.2025.103358

Bruno S.S. Pereira , Tito L.M. Santos , Andre G.S. Conceicao

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引用次数: 0

摘要

针对一类无人地面车辆，提出了一种新的鲁棒反馈线性化MPC。结合合适的约束映射，提出了一种用于人工目标轨迹跟踪的鲁棒MPC，以保证鲁棒约束的满足和在有界扰动影响下的递归可行性。人工参考提供了一个潜在的扩大吸引域，并使用解析目标修正来实现跟踪误差收敛到最小鲁棒正不变集。分析了变换约束下的反馈-线性化权衡问题。以Clearpath Husky A200 UGV和OptiTrack运动捕捉系统为例，展示了该控制策略的性能。

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A robust feedback-linearization MPC with artificial target for UGVs

This paper proposes a new robust feedback-linearization MPC for a class of Unmanned Ground Vehicles. A robust MPC for trajectory tracking with an artificial target is combined with a suitable constraint mapping to ensure robust constraint satisfaction and recursive feasibility despite the effect of bounded disturbances. The artificial reference provides a potentially enlarged domain of attraction, and an analytical target modification is used to achieve the convergence of the tracking error to a minimal robust positively invariant set. The feedback-linearization trade-off concerning the transformed constraints is also analyzed. A case study demonstrating the control strategy’s performance is presented using the Clearpath Husky A200 UGV and the OptiTrack motion capture system.

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来源期刊

Mechatronics 工程技术-工程：电子与电气

CiteScore

5.90

自引率

9.10%

发文量

审稿时长

109 days

期刊介绍： Mechatronics is the synergistic combination of precision mechanical engineering, electronic control and systems thinking in the design of products and manufacturing processes. It relates to the design of systems, devices and products aimed at achieving an optimal balance between basic mechanical structure and its overall control. The purpose of this journal is to provide rapid publication of topical papers featuring practical developments in mechatronics. It will cover a wide range of application areas including consumer product design, instrumentation, manufacturing methods, computer integration and process and device control, and will attract a readership from across the industrial and academic research spectrum. Particular importance will be attached to aspects of innovation in mechatronics design philosophy which illustrate the benefits obtainable by an a priori integration of functionality with embedded microprocessor control. A major item will be the design of machines, devices and systems possessing a degree of computer based intelligence. The journal seeks to publish research progress in this field with an emphasis on the applied rather than the theoretical. It will also serve the dual role of bringing greater recognition to this important area of engineering.