Research On Trajectory Tracking Algorithm Of A Mobile Robot Based On Model Predictive Control

In recent years,nonholonomic mobile robots have received widespread attention in military,technology,production,and life.However,in practical applications,on the one hand,there exist actuator saturation constraints with regard to mobile robots,on the other hand the system have model uncertainty and unknown interference.In order to make the mobile robot move to the area where the task needs to be performed according to the desired trajectory,it is necessary to study how to perform accurate trajectory tracking control in complex environments.In view of the above problems,this paper uses the method of model predictive control to carry out related research on trajectory tracking control of mobile robots.The main research work of this paper is as follows:Firstly,as far as the problem of actuator saturation constraints in nonholonomic mobile robots,a trajectory tracking control strategy based on model predictive control is proposed.Considering that the mobile robot does not have disturbances,according to the tracking error system,a model predictive controller is designed so that the mobile robot can track the reference trajectory.In order to prove the stability of the model predictive control in the finite prediction horizon,a local controller is proposed.The terminal cost function and terminal set are calculated by the local controller,and the system stability is proved by the Lyapunov function.Secondly,in view of the trajectory tracking control problem with continuous unknown disturbances in the actual system,a model predictive control based on the extended state observer is designed to realize the trajectory tracking control of the mobile robot in external disturbances.Considering unknown disturbances existing in the mobile robot system,an extended state observer is proposed to realize the disturbance observation.According to the nominal error system,a trajectory tracking control based on model predictive control is proposed,and the optimization problem is converted into a quadratic programming problem for solution,through the above control strategy,the trajectory tracking control of the mobile robot in an unknown environment is realized.Finally,for the real-time problem of trajectory tracking control of the mobile robot,an event-triggered model predictive control strategy is proposed.By designing a double closed-loop control strategy to solve the trajectory tracking control of mobile robots,the outer loop generates the desired velocity and angular velocity through the backstepping control method,and the inner loop has designed a model predictive control method with actuator saturation constraints.In order to reduce the computational burden of model predictive control,event-triggered control is further proposed,realize accurate trajectory tracking control while reducing the amount of calculation.