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

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.

关键词： Mobile robot nonlinear model predictive control nonlinear time-varying systems tracking stabilization

作者: M.-M. Ma S. Li X.-J. Liu

作者单位: School of Control and Computer Engineering, North China Electric Power University, No.2 Beinong Road,Huilongguan, Changping District, Beijing 102206, P. R. China

会议类型: 国际会议

会议名称: The 31st Chinese Control Conference(第三十一届中国控制会议)

会议地点: 合肥

会议语种:英文

页码: 4056-4061

在线出版日期: 2012-07-01（万方平台首次上网日期，不代表论文的发表时间）