International Journal of Robust and Nonlinear Control

Volume 33, Issue 6 pp. 3627-3639

RESEARCH ARTICLE

Dual-mode robust model predictive control for the tracking control of nonholonomic mobile robot

Huan Meng,

Huan Meng

School of Automation, Beijing Institute of Technology, Haidian, Beijing, China

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Jinhui Zhang,

Corresponding Author

Jinhui Zhang

[email protected]

orcid.org/0000-0002-2405-894X

School of Automation, Beijing Institute of Technology, Haidian, Beijing, China

Correspondence Jinhui Zhang, School of Automation, Beijing Institute of Technology, Courtyard 5, Zhongguancun South Street, Haidian District, Beijing, 100081, China.

Email: [email protected]

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Sihang Li,

Sihang Li

orcid.org/0000-0002-1325-3379

School of Automation, Beijing Institute of Technology, Haidian, Beijing, China

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Huan Meng,

Huan Meng

School of Automation, Beijing Institute of Technology, Haidian, Beijing, China

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Jinhui Zhang,

Corresponding Author

Jinhui Zhang

[email protected]

orcid.org/0000-0002-2405-894X

School of Automation, Beijing Institute of Technology, Haidian, Beijing, China

Correspondence Jinhui Zhang, School of Automation, Beijing Institute of Technology, Courtyard 5, Zhongguancun South Street, Haidian District, Beijing, 100081, China.

Email: [email protected]

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Sihang Li,

Sihang Li

orcid.org/0000-0002-1325-3379

School of Automation, Beijing Institute of Technology, Haidian, Beijing, China

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First published: 03 January 2023

https://doi.org/10.1002/rnc.6582

Citations: 1

Funding information: National Key Research & Development Program of China, 2018YFB1700602; National Natural Science Foundation of China, U22A2048

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Abstract

In this article, a novel dual-mode robust model predictive control (MPC) approach is proposed for solving the tracking control problem of nonholonomic mobile robot with additive bounded disturbance. To reduce the negative effects of disturbance, and drive the state of real system closer to the one of nominal system, a robust reference signal is introduced into the cost function of MPC. In order to reduce the computation burden caused by online optimization of MPC and further improve the tracking accuracy, a dual-mode control strucuture consisting of the robust MPC and the local nonlinear robust control is developed, in which the local nonlinear robust control law is applied within a specified terminal region. Finally, simulation results on the nonholonomic mobile robot are presented to show the validity of the proposed control approach.

CONFLICT OF INTEREST

The authors declare that they have no known competing financial interests or personal relationships that could have appeared to influence the work reported in this paper.

Open Research

DATA AVAILABILITY STATEMENT

Research data are not shared.

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Volume33, Issue6

April 2023

Pages 3627-3639

Dual-mode robust model predictive control for the tracking control of nonholonomic mobile robot

Abstract

CONFLICT OF INTEREST

Open Research

DATA AVAILABILITY STATEMENT

REFERENCES

Citing Literature

References

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Dual-mode robust model predictive control for the tracking control of nonholonomic mobile robot

Abstract

CONFLICT OF INTEREST

Open Research

DATA AVAILABILITY STATEMENT

REFERENCES

Citing Literature

References

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