Trajectory tracking control of emergency supplies transport robots based on fuzzy MPC

摘要

'Contactless' distribution plays an important role in emergency supplies transportation, and the trajectory tracking control of emergency supplies transport robots is the key technology to achieving 'contactless' distribution precision. In this paper, a trajectory tracking control method for emergency supplies transport robots was proposed based on fuzzy MPC. Firstly, a kinematic model of the emergency supplies transport robots was established, and the motion parameters were identified by the recursive least square algorithm. Secondly, aiming at the velocity problem of trajectory tracking of emergency supplies transport robots, a fuzzy control method was proposed to optimize the velocity error dynamically. Thirdly, the model predictive control theory was introduced, and an expanded state observer was designed for the total disturbances to optimize the control of the tracking trajectory of the emergency supplies transport robots. Finally, a simulation model was built in Simulink, and the performance of the trajectory tracking controller was verified by co-simulation using CarSim/ Simulink. The simulation results show that, compared with the classical MPC trajectory tracking controller, the optimized velocity error MPC trajectory tracking controller improves the operational stability of the robots and the trajectory tracking accuracy by 13.18%.