Trajectory Tracking Control of an Amphibious Spherical Robot Using MPC Approach

摘要

Trajectory tracking control is a basic problem in rescue, detection and obstacle avoidance tasks. The trajectory tracking process has its own constraints, and the core of model predictive control is to solve the quadratic programming problem with constraints, so MPC is used to solve the trajectory tracking problem of amphibious spherical robot in this paper. Firstly, based on the 3-DOF dynamic state space equation of the robot, the model is approximately linearized and discretized to facilitate the design of controller. To solve the difficulty of adjusting the weight matrix of MPC, an adaptive parameter adjustment method based on output error is designed in this paper. The linear trajectory and square trajectory are simulated on MATLAB and Gazebo simulation platform respectively. The simulation results verify the applicability and stability of the designed controller.