Receding horizon tracking control of wheeled mobile robots

Author

Gu, Dongbing ; Hu, Huosheng

Author_Institution

Dept. of Comput. Sci., Univ. of Essex, Colchester, UK

Volume

14

Issue

4

fYear

2006

fDate

7/1/2006 12:00:00 AM

Firstpage

743

Lastpage

749

Abstract

In this paper, a receding horizon (RH) controller is developed for tracking control of a nonholonomic mobile robot. The control stability is guaranteed by adding a terminal-state penalty to the cost function and constraining the terminal state to a terminal-state region. The stability analysis in the terminal-state region is investigated, and a virtual controller is found. The analysis results show that the RH tracking control has simultaneous tracking and regulation capability. Simulation results are provided to verify the proposed control strategy. It is shown that the control strategy is feasible.

Keywords

mobile robots; predictive control; stability; tracking; control stability; nonholonomic mobile robot; receding horizon tracking control; terminal-state region; wheeled mobile robots; Cost function; Linear feedback control systems; Mobile robots; Open loop systems; Predictive control; Predictive models; Robot control; Sliding mode control; Stability; Trajectory; Mobile robots; model predictive control (MPC); receding horizon (RH) control; tracking control;

fLanguage

English

Journal_Title

Control Systems Technology, IEEE Transactions on

Publisher

ieee

ISSN

1063-6536

Type

jour

DOI

10.1109/TCST.2006.872512

Filename

1645125