Robust Predictive Trajectory Tracking Control Method for Wheeled Mobile Robot

摘要

Aiming at the problem that the tracking performance of mobile robot is degraded due to the sampling time error ΔT, a robust predictive control trajectory tracking method is studied. Firstly, the augmented kinematics model of mobile robot is established, and the model is expressed as multi model. Then, the min max performance index optimization problem is transformed into a linear matrix inequality (LMI) problem, and a state feedback robust predictive controller (RMPC) is designed. The trajectory tracking control of mobile robot is realized. Its robust stability is verified by MATLAB simulation.