Robust model predictive kinematic tracking control with terminal region for wheeled robotic systems

This paper addresses the nonlinear model predictive control (MPC) for wheeled mobile robots (WMRs) under external disturbance. The decoupling technique is utilized based on the non-holonomic constraint description for separating the WMR model. This method is able to achieve the under-actuated kinema...

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Autores principales:	Phuong Nam Dao, Hong Quang Nguyen
Formato:	article
Lenguaje:	EN
Publicado:	Taylor & Francis Group 2021
Materias:	robust model predictive control wheeled mobile robots terminal controller terminal region feasibility Control engineering systems. Automatic machinery (General) TJ212-225 Automation T59.5
Acceso en línea:	https://doaj.org/article/fbff5ac67a9b4b318e49846491edd29f
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id	oai:doaj.org-article:fbff5ac67a9b4b318e49846491edd29f
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spelling	oai:doaj.org-article:fbff5ac67a9b4b318e49846491edd29f2021-11-04T15:00:41ZRobust model predictive kinematic tracking control with terminal region for wheeled robotic systems0005-11441848-338010.1080/00051144.2021.1991148https://doaj.org/article/fbff5ac67a9b4b318e49846491edd29f2021-10-01T00:00:00Zhttp://dx.doi.org/10.1080/00051144.2021.1991148https://doaj.org/toc/0005-1144https://doaj.org/toc/1848-3380This paper addresses the nonlinear model predictive control (MPC) for wheeled mobile robots (WMRs) under external disturbance. The decoupling technique is utilized based on the non-holonomic constraint description for separating the WMR model. This method is able to achieve the under-actuated kinematic sub-system without disturbance and fully-actuated dynamic sub-system in presence of disturbance. Thanks to the decoupling technique, the disturbance is lumped into dynamic sub-system. The novelty lies in that the MPC-based tracking control with fixed initial point guarantees the stability based on a new establishment of terminal region and equivalent terminal controller. The feasibility problem is demonstrated to lead the tracking problem using theoretical analysis. Moreover, the control structure is inserted more the robust nonlinear dynamic controller. The effectiveness and advantages of the proposed control scheme are verified by numerical simulations using Yamip tool.Phuong Nam DaoHong Quang NguyenTaylor & Francis Grouparticlerobust model predictive controlwheeled mobile robotsterminal controllerterminal regionfeasibilityControl engineering systems. Automatic machinery (General)TJ212-225AutomationT59.5ENAutomatika, Vol 62, Iss 3-4, Pp 513-519 (2021)
institution	DOAJ
collection	DOAJ
language	EN
topic	robust model predictive control wheeled mobile robots terminal controller terminal region feasibility Control engineering systems. Automatic machinery (General) TJ212-225 Automation T59.5
spellingShingle	robust model predictive control wheeled mobile robots terminal controller terminal region feasibility Control engineering systems. Automatic machinery (General) TJ212-225 Automation T59.5 Phuong Nam Dao Hong Quang Nguyen Robust model predictive kinematic tracking control with terminal region for wheeled robotic systems
description	This paper addresses the nonlinear model predictive control (MPC) for wheeled mobile robots (WMRs) under external disturbance. The decoupling technique is utilized based on the non-holonomic constraint description for separating the WMR model. This method is able to achieve the under-actuated kinematic sub-system without disturbance and fully-actuated dynamic sub-system in presence of disturbance. Thanks to the decoupling technique, the disturbance is lumped into dynamic sub-system. The novelty lies in that the MPC-based tracking control with fixed initial point guarantees the stability based on a new establishment of terminal region and equivalent terminal controller. The feasibility problem is demonstrated to lead the tracking problem using theoretical analysis. Moreover, the control structure is inserted more the robust nonlinear dynamic controller. The effectiveness and advantages of the proposed control scheme are verified by numerical simulations using Yamip tool.
format	article
author	Phuong Nam Dao Hong Quang Nguyen
author_facet	Phuong Nam Dao Hong Quang Nguyen
author_sort	Phuong Nam Dao
title	Robust model predictive kinematic tracking control with terminal region for wheeled robotic systems
title_short	Robust model predictive kinematic tracking control with terminal region for wheeled robotic systems
title_full	Robust model predictive kinematic tracking control with terminal region for wheeled robotic systems
title_fullStr	Robust model predictive kinematic tracking control with terminal region for wheeled robotic systems
title_full_unstemmed	Robust model predictive kinematic tracking control with terminal region for wheeled robotic systems
title_sort	robust model predictive kinematic tracking control with terminal region for wheeled robotic systems
publisher	Taylor & Francis Group
publishDate	2021
url	https://doaj.org/article/fbff5ac67a9b4b318e49846491edd29f
work_keys_str_mv	AT phuongnamdao robustmodelpredictivekinematictrackingcontrolwithterminalregionforwheeledroboticsystems AT hongquangnguyen robustmodelpredictivekinematictrackingcontrolwithterminalregionforwheeledroboticsystems
_version_	1718444813768982528

Robust model predictive kinematic tracking control with terminal region for wheeled robotic systems

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