A robust interpolated model predictive control based on recurrent neural networks for a nonholonomic differential-drive mobile robot with quasi-LPV representation: computational complexity and conservatism

摘要

This paper presents an improved Model Predictive Control (MPC) for path tracking of a nonholonomic mobile robot with a differential drive. Nonlinear dynamics and nonholonomic constraints make the optimisation problem of MPC for the robot challenging. Nonlinear dynamics of the robots are expressed by a Linear Parameter Varying (LPV), and a Recurrent Neural Network (RNN) solves the constrained optimisation problem, providing optimal velocities. Moreover, an interpolation-based approach has been introduced to augment the region of attraction. The algorithm ensures stability in the presence of bounded disturbances through the inclusion of free control moves in the control law. The controller efficiency has been evaluated in two scenarios in a hospital setting. The simulation results illustrate that the proposed method performs better than nonlinear MPC and standard LPV-based MPC in terms of computational cost, disturbance rejection, and region of attraction.