MPC for Path Following Problems of Wheeled Mobile Robots

摘要

In this paper disturbance observer based model predictive control for path following problems of wheeled mobile robots with input disturbances is proposed. A nonlinear disturbance observer is designed to estimate the disturbances, and to compensate the influence of disturbances. Nominal model predictive control scheme with guaranteed asymptotic convergence is adopted to deal with input constraints of wheeled mobile robots. Simulation example shows that the proposed scheme can drive the wheeled mobile robots to follow a given path despite the presence of slowly varying input disturbances.