| 引用本文: | 刘洋,于树友,郭洋,高炳钊,陈虹.基于滚动时域优化的轮式移动机器人路径跟踪问题研究[J].控制理论与应用,2017,34(4):424~432.[点击复制] |
| LIU Yang,YU Shu-you,GUO Yang,GAO Bing-zhao,CHEN Hong.Receding horizon control for path following problems of wheeled mobile robots[J].Control Theory and Technology,2017,34(4):424~432.[点击复制] |
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| 基于滚动时域优化的轮式移动机器人路径跟踪问题研究 |
| Receding horizon control for path following problems of wheeled mobile robots |
| 摘要点击 3642 全文点击 2739 |
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| DOI编号 10.7641/CTA.2017.16016 |
| 2017,34(4):424-432 |
| 中文关键词 模型预测控制 非线性约束系统 轮式移动机器人 路径跟踪问题 |
| 英文关键词 model predictive control constrained nonlinear systems wheeled mobile robots path following problems |
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| 中文摘要 |
| 轮式移动机器人是典型的非完整约束系统. 本文基于滚动时域控制策略研究轮式移动机器人的路径跟踪问题. 为了既能够保证移动机器人渐近收敛到期望轨迹, 又能够保证在线求解的优化问题的滚动可行性, 参考轨迹
被选为优化问题中的终端等式约束. 仿真结果验证了所提出的控制策略的有效性. |
| 英文摘要 |
| A wheeled mobile robot is a system with nonholonomic constraints, which path following problems have been studied intensively. Receding horizon control for path following problems of wheeled mobile robots is considered in this paper, where the reference path is chosen as the terminal region. Both the asymptotic convergence to the reference path and recursive feasibility of the involved optimization problem are investigated. The effectiveness of the applied control strategy is verified by simulation results. |
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