Open AccessTrajectory tracking for wheeled mobile robots via model predictive control with softening constraints
Author(s) -
Yang Hongjiu,
Guo Mingchao,
Xia Yuanqing,
Cheng Lei
Publication year - 2018
Publication title -
iet control theory and applications
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.059
H-Index - 108
eISSN - 1751-8652
pISSN - 1751-8644
DOI - 10.1049/iet-cta.2017.0395
Subject(s) - control theory (sociology) , model predictive control , mobile robot , trajectory , robustness (evolution) , computer science , feed forward , tracking (education) , holonomic , control engineering , robot , controller (irrigation) , engineering , control (management) , artificial intelligence , psychology , pedagogy , physics , astronomy , biochemistry , chemistry , agronomy , biology , gene
In this study, model predictive control with softening constraints is applied to a non‐holonomic wheeled mobile robot for trajectory tracking in the presence of external disturbances. In order to improve real‐time robustness of the wheeled mobile robot, a linearised tracking error model is used to predict system behaviours. The proposed control scheme contains a feedforward controller and a feedback controller, in which both control constraints and control increment constraints are considered to achieve trajectory tracking smoothly. Finally, numerical simulations demonstrate the performances of the control scheme.