Tracking Control of Wheeled Mobile Robot Based on MMPC

摘要

In order to solve the problems of low tracking accuracy and large steady-state error in track tracking of wheeled mobile robots, a MPC control scheme combining feedforward and feedback control is designed on the basis of Traditional Model Predictive Control (TMPC). First, when establishing the WMR kinematic error model, the linearization error is retained, and the control input and incremental constraints are considered. Secondly, a feedforward controller is designed for a given desired trajectory of wheeled mobile robot; At the same time, the multi constraint model predictive control (MMPC) strategy with speed optimization is added to design the feedback controller. Then, the stability of the designed MMPC controller is analyzed based on Lyapunov theory. Finally, MMPC control scheme is compared with TMPC control scheme and PID control scheme. The results show that compared with TMPC control scheme, MMPC control scheme reduces the lateral error by 17.87%, the longitudinal error by 17.12%, and the heading angle error by 9.81%; Compared with the PID control scheme, the lateral error is reduced by 20.82%, the longitudinal error is reduced by 23.26%, and the heading angle error is reduced by 5.87%.