Tailored MPC for mobile robots with very short prediction horizons
Tailored MPC for mobile robots with very short prediction horizons
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DOI：
10.23919/ecc.2018.8550514
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发表时间：
2018-06
期刊：
影响因子：
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通讯作者：
M. S. Darup;K. Worthmann
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文献类型：
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作者：
M. S. Darup;K. Worthmann
针对移动机器人的运动模型，提出了一种新的预测控制算法。该方案利用了机器人的两个特性：有限时间可控性，以及在忽略输入约束的情况下，任意选择时间参数都可以遍历给定路径。结合这两个特性，我们可以设计一个终端成本，保证MPC闭环的递归可行性和设定点收敛-独立于所选择的预测范围。通过数值实验验证了所提控制器的有效性。
We propose a novel predictive control algorithm tailored for the kinematic model of a mobile robot. The scheme exploits two properties of the robot: finite time controllability and the fact that any given path can be traversed with arbitrarily chosen time parametrization if input constraints are ignored. Combining these two properties allows us to design a terminal cost that guarantees recursive feasibility and set point convergence of the MPC closed-loop – independently of the chosen prediction horizon. We illustrate the efficiency of the proposed controller with some numerical experiments.