A Nonlinear MPC-Net Optimization Framework for Wheeled Humanoid Robots With Whole Body Dynamics

Abstract

The task performance of mobile manipulators can be significantly enhanced by whole-body control and optimization in complex scenarios. Due to the nonlinear properties of whole-body dynamics and parameter uncertainty, modeling accurate system dynamics is essential in addition to designing an effective control strategy. However, traditional control methods have high computational costs and fail to deal with the parameter errors caused by model linearization. To address these issues, we propose a model predictive control (MPC)-Net, a learning-based approach that facilitates rapid online optimization by combining deep learning with multiple MPCs. Firstly, we develop a parameter identification algorithm based on a deep neural model to estimate the unknown dynamics parameters. Although the control performance of the MPC approach positively correlated with the prediction horizon, a long horizon would result in additional computational costs. Thus, MPC-Net is constructed by combining multiple sub-MPC issues, and the nonlinear coefficients are obtained by using a deep neural network-based optimization framework. Furthermore, MPC-Net generates the solution by combining the outputs of multiple sub-MPC problems using the nonlinear transformation of learned coefficients. Experiments are conducted on a mobile manipulator, which demonstrates the proposed MPC-Net-based optimization control offers fast efficient computation and low tracking error performance.