Original scientific paper
https://doi.org/10.1080/00051144.2021.1991148
Robust model predictive kinematic tracking control with terminal region for wheeled robotic systems
Phuong Nam Dao
; Hanoi University of Science and Technology, Hanoi, Vietnam
Hong Quang Nguyen
; Thai Nguyen University of Technology, 251750 Thai Nguyen City, Vietnam
Abstract
This paper addresses the nonlinear model predictive control (MPC) for wheeled mobile robots (WMRs) under external disturbance. The decoupling technique is utilized based on the non-holonomic constraint description for separating the WMR model. This method is able to achieve the under-actuated kinematic sub-system without disturbance and fully-actuated dynamic sub-system in presence of disturbance. Thanks to the decoupling technique, the disturbance is lumped into dynamic sub-system. The novelty lies in that the MPC-based tracking control with fixed initial point guarantees the stability based on a new establishment of terminal region and equivalent terminal controller. The feasibility problem is demonstrated to lead the tracking problem using theoretical analysis. Moreover, the control structure is inserted more the robust nonlinear dynamic controller. The effectiveness and advantages of the proposed control scheme are verified by numerical simulations using Yamip tool.
Keywords
Robust model predictive control; wheeled mobile robots; terminal controller; terminal region; feasibility
Hrčak ID:
269933
URI
Publication date:
20.10.2021.
Visits: 580 *