Open AccessMPC for Path Following Problems of Wheeled Mobile Robots
Author(s) -
Shuyou Yu,
Yang Guo,
Lingyu Meng,
Ting Qu,
Hong Chen
Publication year - 2018
Publication title -
ifac-papersonline
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.308
H-Index - 72
eISSN - 2405-8971
pISSN - 2405-8963
DOI - 10.1016/j.ifacol.2018.11.021
Subject(s) - mobile robot , control theory (sociology) , robot , computer science , path (computing) , convergence (economics) , model predictive control , scheme (mathematics) , observer (physics) , nonlinear system , disturbance (geology) , control engineering , control (management) , engineering , artificial intelligence , mathematics , economic growth , biology , mathematical analysis , paleontology , quantum mechanics , economics , physics , programming language
In this paper disturbance observer based model predictive control for path following problems of wheeled mobile robots with input disturbances is proposed. A nonlinear disturbance observer is designed to estimate the disturbances, and to compensate the influence of disturbances. Nominal model predictive control scheme with guaranteed asymptotic convergence is adopted to deal with input constraints of wheeled mobile robots. Simulation example shows that the proposed scheme can drive the wheeled mobile robots to follow a given path despite the presence of slowly varying input disturbances.
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