IEICE TRANSACTIONS on Fundamentals
Min-Max Model Predictive Controller for Trajectory Tracking of a Wheeled Mobile Robot with Slipping Effects
Summary :
A min-max model predictive controller is developed in this paper for tracking control of wheeled mobile robots (WMRs) subject to the violation of nonholonomic constraints in an environment without obstacles. The problem is simplified by neglecting the vehicle dynamics and considering only the steering system. The linearized tracking-error kinematic model with the presence of uncertain disturbances is formed in the frame of the robot. And then, the control policy is derived from the worst-case optimization of a quadratic cost function, which penalizes the tracking error and control variables in each sampling time over a finite horizon. As a result, the input sequence must be feasible for all possible disturbance realizations. The performance of the control algorithm is verified via the computer simulations with a predefined trajectory and is compared to a common discrete-time sliding mode control law. The result shows that the proposed method has a better tracking performance and convergence.
- Publication
- IEICE TRANSACTIONS on Fundamentals Vol.E94-A No.2 pp.680-687
- Publication Date
- 2011/02/01
- Publicized
- Online ISSN
- 1745-1337
- DOI
- 10.1587/transfun.E94.A.680
- Type of Manuscript
- PAPER
- Category
- Systems and Control
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Keyword
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Yu GAO, Kil To CHONG, "Min-Max Model Predictive Controller for Trajectory Tracking of a Wheeled Mobile Robot with Slipping Effects" in IEICE TRANSACTIONS on Fundamentals,
vol. E94-A, no. 2, pp. 680-687, February 2011, doi: 10.1587/transfun.E94.A.680.
Abstract: A min-max model predictive controller is developed in this paper for tracking control of wheeled mobile robots (WMRs) subject to the violation of nonholonomic constraints in an environment without obstacles. The problem is simplified by neglecting the vehicle dynamics and considering only the steering system. The linearized tracking-error kinematic model with the presence of uncertain disturbances is formed in the frame of the robot. And then, the control policy is derived from the worst-case optimization of a quadratic cost function, which penalizes the tracking error and control variables in each sampling time over a finite horizon. As a result, the input sequence must be feasible for all possible disturbance realizations. The performance of the control algorithm is verified via the computer simulations with a predefined trajectory and is compared to a common discrete-time sliding mode control law. The result shows that the proposed method has a better tracking performance and convergence.
URL: https://global.ieice.org/en_transactions/fundamentals/10.1587/transfun.E94.A.680/_p
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@ARTICLE{e94-a_2_680,
author={Yu GAO, Kil To CHONG, },
journal={IEICE TRANSACTIONS on Fundamentals},
title={Min-Max Model Predictive Controller for Trajectory Tracking of a Wheeled Mobile Robot with Slipping Effects},
year={2011},
volume={E94-A},
number={2},
pages={680-687},
abstract={A min-max model predictive controller is developed in this paper for tracking control of wheeled mobile robots (WMRs) subject to the violation of nonholonomic constraints in an environment without obstacles. The problem is simplified by neglecting the vehicle dynamics and considering only the steering system. The linearized tracking-error kinematic model with the presence of uncertain disturbances is formed in the frame of the robot. And then, the control policy is derived from the worst-case optimization of a quadratic cost function, which penalizes the tracking error and control variables in each sampling time over a finite horizon. As a result, the input sequence must be feasible for all possible disturbance realizations. The performance of the control algorithm is verified via the computer simulations with a predefined trajectory and is compared to a common discrete-time sliding mode control law. The result shows that the proposed method has a better tracking performance and convergence.},
keywords={},
doi={10.1587/transfun.E94.A.680},
ISSN={1745-1337},
month={February},}
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TY - JOUR
TI - Min-Max Model Predictive Controller for Trajectory Tracking of a Wheeled Mobile Robot with Slipping Effects
T2 - IEICE TRANSACTIONS on Fundamentals
SP - 680
EP - 687
AU - Yu GAO
AU - Kil To CHONG
PY - 2011
DO - 10.1587/transfun.E94.A.680
JO - IEICE TRANSACTIONS on Fundamentals
SN - 1745-1337
VL - E94-A
IS - 2
JA - IEICE TRANSACTIONS on Fundamentals
Y1 - February 2011
AB - A min-max model predictive controller is developed in this paper for tracking control of wheeled mobile robots (WMRs) subject to the violation of nonholonomic constraints in an environment without obstacles. The problem is simplified by neglecting the vehicle dynamics and considering only the steering system. The linearized tracking-error kinematic model with the presence of uncertain disturbances is formed in the frame of the robot. And then, the control policy is derived from the worst-case optimization of a quadratic cost function, which penalizes the tracking error and control variables in each sampling time over a finite horizon. As a result, the input sequence must be feasible for all possible disturbance realizations. The performance of the control algorithm is verified via the computer simulations with a predefined trajectory and is compared to a common discrete-time sliding mode control law. The result shows that the proposed method has a better tracking performance and convergence.
ER -
English
