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.
翻译:本文提出了一种新的双模式强势模型预测控制(MPC)方法,以解决带有添加剂捆绑干扰的非热调移动机器人的跟踪控制问题,为减少干扰的负面影响,使实际系统状况更接近名义系统状态,在MPC的成本功能中引入了强势参考信号。 为了减少网上优化多氯联苯造成的计算负担,并进一步提高跟踪准确性,开发了由强力多氯联苯和本地非线性强力控制组成的双模式控制结构,在其中,在特定终端区域适用当地非线性强力控制法。最后,对非热力移动机器人的模拟结果显示拟议控制方法的有效性。</s>