基于速度和加速度约束的有限控制能力路径跟踪

在考虑实际系统有限控制能力的情况下,对非完整移动机器人提出一种完全满足速度和加速度约束的路径跟踪技术。根据系统状态方程分析了移动机器人维持无偏差跟踪状态的条件,先通过智能预测控制将路径偏差转化为同号状态,再应用滚动时域控制和约束条件设计一种改进型最优预测控制器。当路径跟踪开始时,控制量从零初值调整;当路径偏差同步消除到零时,控制量可在速度和加速度约束下及时调整到零。仿真结果验证了所提技术的有效性,有限控制能力使该技术在工程应用时具有更好的可行性和适应性。

Path Tracking with Finite Control Ability Based on Velocity and Acceleration Constraints

A path tracking technique satisfying velocity and acceleration constraints completely is presented for non-holonomic mobile robots,in the consideration of the finite control ability for practical systems.A condition that mobile robots can keep an error-free tracking state is analyzed according to system state equations.Firstly,intelligent predictive control is used to make path errors have the same sign,and then an improved optimal predictive controller is designed by using receding horizon control and constraints.When path tracking starts,the control output changes from zero initial value.When path errors are eliminated to zero synchronously,the control output can return to zero timely under velocity and acceleration constraints.Simulation results verify the effectiveness of the proposed technique.The finite control ability makes this technique have the better feasibility and adaptability in its applications to engineering.