约束非完整移动机器人轨迹跟踪的非线性预测控制  

Nonlinear model predictive control of trajectory tracking for non-holonomic mobile robots with constraints

作　　者：韩光信[1,2] 陈虹[1] 马苗苗[1] 赵海艳[1] 

机构地区：[1]吉林大学通信工程学院,长春130022 [2]吉林化工学院信息与控制工程学院,吉林省吉林市132022

出　　处：《吉林大学学报（工学版）》2009年第1期177-181,共5页Journal of Jilin University:Engineering and Technology Edition

基　　金：国家杰出青年科学基金项目(60725311)

摘　　要：针对存在非完整约束和控制输入约束的轮式移动机器人动力学模型,研究了其全动态误差系统准无限时域非线性模型预测控制策略,通过沿名义轨迹在线线性化获取局部稳定化控制器及不变终端域,以跟踪'8'字形轨迹为例进行了仿真,结果表明,闭环系统在满足控制输入条件下具有良好的跟踪性能。Considering the dynamic model of wheeled mobile robot with non-holonomic constraint and input saturation,quasi-infinite horizon nonlinear model predictive control of its full dynamic error system was studied.Local stabilization controller and invariant terminal region were obtained by online linearization along the nominal trajectory.Simulation results presented in term of tracking '8-shape' trajectory show better tracking performance with the satisfaction of control input constraints.

关 键 词：自动控制技术 轮式移动机器人 非完整约束 控制约束 非线性预测控制 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]