Receding horizon tracking control of wheeled mobile robots

被引：189
|
作者：
Gu, Dongbing [1 ]
Hu, Huosheng [1 ]
机构：
[1] Univ Essex, Dept Comp Sci, Colchester CO4 3SQ, Essex, England
来源：
IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY | 2006年 / 14卷 / 04期
关键词：
mobile robots; model predictive control (MPC); receding horizon (RH) control; tracking control;
D O I：
10.1109/TCST.2006.872512
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper, a receding horizon (RH) controller is developed for tracking control of a nonholonomic mobile robot. The control stability is guaranteed by adding a terminal-state penalty to the cost function and constraining the terminal state to a terminal-state region. The stability analysis in the terminal-state region is investigated, and a virtual controller is found. The analysis results show that the RH tracking control has simultaneous tracking and regulation capability. Simulation results are provided to verify the proposed control strategy. It is shown that the control strategy is feasible.
引用
收藏
页码：743 / 749
页数：7
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