Parameterized Model Predictive Control Strategies Of Wheeled Mobile Robots

In the theoretical research on Wheeled Mobile Robot motion control,generally assume that the wheels occurred only pure rolling without sliding.The movement of WMR is constrained,the ideal constraint is essentially a nonholonomic constraint,which makes the WMR feedback controller design is very challenge.Therefore,it is of great theoretical and practical significance to study the motion control of WMR with nonholonomic constraints.In this paper,the mobile robot stage as an example,studies model predictive control theory in the application of WMR motion control,proposed a parameterized model predictive control method to solve the problem of WMR stabilization and trajectory tracking control.The main research work and innovation are as follows:(1)Studied the stabilization problem of WMR.In view of the limited state and control of WMR kinematics model,using the target distance,target Angle and azimuth Angle of the robot to establish a control Lyapunov function of mobile robot,according to CLF active control method to design adjustable predictive controller.Through online optimizing a given performance index calculation of the adjustable parameters of the controller,at the same time of guarantee controller with adaptive reduced the computation of MPC,to ensure the recursive feasibility of optimization problem and stability of the closed-loop system.Finally,the effectiveness of the proposed algorithm in this paper is verified by numerical simulation.(2)Studied the the trajectory tracking problem of WMR.On the basis of obtaining the WMR pose error model,off-line constructs an error state related control Lyapunov function,designed an adjustable predictive controller satisfying the control and state constraints.Through online optimizing a given performance index calculation of the adjustable parameters of the controller,to direct optimization of control volume into the optimization of controller parameters,reduces the dimension of the decision variables,the realization of WMR location,direction Angle and speed of asymptotic tracking at the same time,reduces the amount of calculation of MPC,to ensure the optimization problem of recursive feasibility and stability of the closed-loop system.Finally,the numerical simulation results verify the effectiveness of the algorithm in this paper.