Research On Predictive Control Algorithm Of Mobile Robot Based On Event-triggered Mechanism

Mobile robot system is a kind of underactuated,nonlinear and strongly coupled multi-input and multi-output system.It is very difficult to obtain the accurate mathematical model of the system because of the time-varying characteristics of model parameters and the existence of many uncertain factors such as external disturbance in actual working conditions.Therefore,it is difficult for mobile robots with conventional control strategies to achieve the desired control performance.Therefore,it is urgent to study the robot control strategies based on advanced control algorithms.Model predictive control(MPC)has been widely used in the field of mobile robot control by virtue of its advantages in handling system constraints and multi-objective optimization.First of all,this paper aimed at solving the problem that the existing predictive control algorithm of the mobile robot to solve the optimization problem took up a large amount of computation and communication resources;based on the bounded disturbances,an event triggered linear time-varying(trajectory tracking)model predictive control algorithm is researched,and it is put forward a kind of easy to implement event trigger mechanism for MPC algorithm,and experiment results prove the effectiveness of the proposed method and the correctness.Second,event triggered predictive control algorithm is studied for mobile robot that can be modeled as continuous time input affine nonlinear system with constrained bandwidth;the control signal after sampling is employed to construct the triggering condition,and the optimization problem is incorporated with state tighten constraints to improve the robustness of control system;the feasibility and stability of the closed-loop system is proved,and it is further proved that there is no Zeno phenomenon at the same time,and the correctness and validity of the proposed algorithm is validated by computer simulation.Finally,the trajectory tracking predictive control is verified and analyzed using the tracked mobile robot experimental platform in the laboratory.In the software system design,a trajectory tracking design scheme of mobile robot based on the standard MPC framework under the ROS system is built.Experimental results show that compared with the time triggered strategy,the event-triggered strategy proposed in this paper can effectively save computing and communication resources,and maintain similar control effect.