Tracking Control and Stabilization of Wheeled Mobile Robots by Nonlinear Model Predictive Control

被引：0
|
作者：
Ma, M. -M. [1 ]
Li, S. [1 ]
Liu, X. -J. [1 ]
机构：
[1] North China Elect Power Univ, Sch Control & Comp Engn, 2 Beinong Rd, Beijing 102206, Peoples R China
来源：
PROCEEDINGS OF THE 31ST CHINESE CONTROL CONFERENCE | 2012年
关键词：
Mobile robot; nonlinear model predictive control; nonlinear time-varying systems; tracking; stabilization;
D O I：
暂无
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 model predictive controller for time-varying nonlinear systems with input constraints is developed for tracking control and stabilization of a nonholonomic wheeled 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 region. The terminal region and its corresponding local controller are developed based on T-S fuzzy model. The analysis results show that the proposed nonlinear model predictive controller has simultaneous tracking and regulation capability. Simulation results are provided to verify the proposed control strategy.
引用
收藏
页码：4056 / 4061
页数：6
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