论文标题
自适应模型对轮式移动机器人的预测控制
Adaptive Model Predictive Control of Wheeled Mobile Robots
论文作者
论文摘要
在本文中，提出了一种用于引导两轮移动机器人的控制算法，该机器人使用自适应模型预测控制（AMPC）框架提出了所需的点和方向。两轮移动机器人被建模为具有非体力学运动限制的刀边缘或滑板，并使用Lagrangian方法得出动力学方程。每次瞬间的输入都是从模型预测控制（MPC）获得的，其中一组名义参数使用递归最小二乘算法进行更新。该算法的功效是通过论文末尾的数值模拟证明的。
In this paper, a control algorithm for guiding a two wheeled mobile robot with unknown inertia to a desired point and orientation using an Adaptive Model Predictive Control (AMPC) framework is presented. The two wheeled mobile robot is modeled as a knife edge or a skate with nonholonomic kinematic constraints and the dynamical equations are derived using the Lagrangian approach. The inputs at every time instant are obtained from Model Predictive Control (MPC) with a set of nominal parameters which are updated using a recursive least squares algorithm. The efficacy of the algorithm is demonstrated through numerical simulations at the end of the paper.
