Linear Time-Varying Model Predictive Control for Trajectory-Tracking of a Wheeled Mobile Robot

2021 ◽  
pp. 533-544
Author(s):  
Juntao Wei ◽  
Bing Zhu
Keyword(s):  
Model Predictive Control ◽  
Mobile Robot ◽  
Predictive Control ◽  
Trajectory Tracking ◽  
Linear Time ◽  
Wheeled Mobile Robot ◽  
Time Varying

scholarly journals Stochastic Time-Varying Model Predictive Control for Trajectory Tracking of a Wheeled Mobile Robot

2021 ◽  
Vol 9 ◽  
Author(s):  
Weijiang Zheng ◽  
Bing Zhu
Keyword(s):  
Model Predictive Control ◽  
Mobile Robot ◽  
Predictive Control ◽  
Linear Time ◽  
Tracking Error ◽  
Wheeled Mobile Robot ◽  
Reference Trajectory ◽  
Time Varying ◽  
Probability Constraints ◽  
And Control

In this paper, a stochastic model predictive control (MPC) is proposed for the wheeled mobile robot to track a reference trajectory within a finite task horizon. The wheeled mobile robot is supposed to subject to additive stochastic disturbance with known probability distribution. It is also supposed that the mobile robot is subject to soft probability constraints on states and control inputs. The nonlinear mobile robot model is linearized and discretized into a discrete linear time-varying model, such that the linear time-varying MPC can be applied to forecast and control its future behavior. In the proposed stochastic MPC, the cost function is designed to penalize its tracking error and energy consumption. Based on quantile techniques, a learning-based approach is applied to transform the probability constraints to deterministic constraints, and to calculate the terminal constraint to guarantee recursive feasibility. It is proved that, with the proposed stochastic MPC, the tracking error of the closed-loop system is asymptotically average bounded. A simulation example is provided to support the theoretical result.

scholarly journals Trajectory Tracking of an Omni-Directional Wheeled Mobile Robot Using a Model Predictive Control Strategy

2018 ◽  
Vol 8 (2) ◽  
pp. 231 ◽  
Author(s):  
Chengcheng Wang ◽  
Xiaofeng Liu ◽  
Xianqiang Yang ◽  
Fang Hu ◽  
Aimin Jiang ◽  
...  
Keyword(s):  
Model Predictive Control ◽  
Mobile Robot ◽  
Predictive Control ◽  
Trajectory Tracking ◽  
Control Strategy ◽  
Wheeled Mobile Robot

Linear time varying model based model predictive control for lateral path tracking

2018 ◽  
Vol 75 (1/2/3/4) ◽  
pp. 1
Author(s):  
Charles Pinto ◽  
Ione Nieva ◽  
Sara Mata ◽  
Itziar Cabanes ◽  
Asier Zubizarreta
Keyword(s):  
Model Predictive Control ◽  
Predictive Control ◽  
Linear Time ◽  
Path Tracking ◽  
Time Varying ◽  
Model Based
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