论文标题
双模式可靠的MPC，用于跟踪非官方移动机器人的跟踪控制
Dual-mode robust MPC for the tracking control of non-holonomoic mobile robots
论文作者
论文摘要
在本文中，提出了一种新型的双模式鲁棒模型预测控制（MPC）方法，用于解决具有添加剂界的干扰的非官能移动机器人的跟踪控制问题。为了减少干扰的负面影响并驱动更接近名义系统的实际系统状态，将强大的参考信号引入MPC的成本函数中。为了减轻MPC在线优化引起的计算负担，并进一步提高了跟踪精度，开发了由可靠的MPC组成的双模式控制结构，并开发了局部非线性鲁棒控制，其中局部非线性鲁棒控制法在指定的终端区域内应用于指定的终端区域。最后，提出了对非全面移动机器人的仿真结果，以显示拟议的控制方法的有效性。
In this paper, a novel dual-mode robust model predictive control (MPC) approach is proposed for solving the tracking control problem of non-holonomoic mobile robots with additive bounded disturbance. To reduce the negative effect of disturbance and drive the state of real system closer to the one of nominal system , a robust reference signal is introduced into the cost function of MPC. In order to reduced the computation burden caused by online optimization of MPC and further improve the tracking accuracy, a dual-mode control strucuture consisting of the robust MPC and the local nonlinear robust control is developed, in which the local nonlinear robust control law is applied within a specified terminal region. Finally, simulation results on the non-holonomic mobile robot are presented to show the validity of the proposed control approach.
