ESO Based Model Predictive Control of an Omnidirectional Mobile Robot with Friction Compensation

摘要

In this paper, a linear extended state observer (LESO) based model predictive control with friction compensation is proposed for trajectory tracking control of an omnidirectional mobile robot. First, a dynamic model with unknown friction of the omnidirectional mobile robot is derived. Then a cascade control system is designed, where the external loop is used to generate the velocity references given to the linear model predictive control (LMPC) according to the robot inverse kinematics. The internal loop controller consists of two parts. One part of the control input is designed to compensate the unknown friction estimated by LESO and the other is LMPC which is applied to accomplish the velocity control while satisfying input constraints. Besides, the stability analysis is provided. Finally, simulation results demonstrate the effectiveness of the proposed control system.