Receding horizon tracking control for wheeled mobile robots with time-delay

In this paper, a receding horizon (RH) controller is developed for tracking control of wheeled mobile robots (WMRs) subject to nonholonomic constraint in the environments without obstacles. The problem is simplified by neglecting the vehicle dynamics and considering only the steering system. First, the tracking-error kinematic model is linearized at the equilibrium point. And then, it is transferred to an exact discrete form considering the time-delay. The control policy is derived from the optimization of a quadratic cost function, which penalizes the tracking error and control variables in each sampling time. The minimizing problem is solved by using the QP (quadratic programming) method taking the current error state as the initial value and including the velocity constraints. The performance of the control algorithm is verified via the computer simulations with several different predefined trajectories showing that the strategy is feasible.

[1]  Trong Hieu Bui,et al.  Adaptive tracking control of two-wheeled welding mobile robot with smooth curved welding path , 2003 .

[2]  Julio E. Normey-Rico,et al.  A Smith-predictor-based generalised predictive controller for mobile robot path-tracking , 1998 .

[3]  Ching-Hung Lee,et al.  Tracking control of unicycle-modeled mobile robots using a saturation feedback controller , 2001, IEEE Trans. Control. Syst. Technol..

[4]  Jun-Ho Oh,et al.  Tracking control of a two-wheeled mobile robot using inputoutput linearization , 1999 .

[5]  Dongbing Gu,et al.  A stabilizing receding horizon regulator for nonholonomic mobile robots , 2005, IEEE Trans. Robotics.

[6]  Henk Nijmeijer,et al.  Tracking Control of Mobile Robots: A Case Study in Backstepping , 1997, Autom..

[7]  Marilena Vendittelli,et al.  WMR control via dynamic feedback linearization: design, implementation, and experimental validation , 2002, IEEE Trans. Control. Syst. Technol..

[8]  Dongbing Gu,et al.  Neural predictive control for a car-like mobile robot , 2002, Robotics Auton. Syst..

[9]  Jae Weon Choi,et al.  Game optimal receding horizon guidance laws and its equivalence to receding horizon guidance laws , 2002 .

[10]  Dong Won Jung,et al.  Design of a nuclear reactor controller using a model predictive control method , 2004 .

[11]  Jang-Gyu Lee,et al.  Point stabilization of mobile robots via state-space exact feedback linearization , 2000 .

[12]  Sami Othman,et al.  Receding horizon control for polymerization processes , 2007, Math. Comput. Model..

[13]  R. Murray,et al.  Exponential stabilization of driftless nonlinear control systems via time-varying, homogeneous feedback , 1994, Proceedings of 1994 33rd IEEE Conference on Decision and Control.

[14]  Dragan Nesic,et al.  A receding horizon control approach to sampled-data implementation of continuous-time controllers , 2006, Syst. Control. Lett..

[15]  Fumio Miyazaki,et al.  A stable tracking control method for an autonomous mobile robot , 1990, Proceedings., IEEE International Conference on Robotics and Automation.

[16]  Tan Lam Chung,et al.  Wall-following control of a two-wheeled mobile robot , 2004 .

[17]  Igor Skrjanc,et al.  Tracking-error model-based predictive control for mobile robots in real time , 2007, Robotics Auton. Syst..

[18]  Zhong-Ping Jiang,et al.  Saturated stabilization and tracking of a nonholonomic mobile robot , 2001 .

[19]  R. Kalaba,et al.  A new perspective on constrained motion , 1992, Proceedings of the Royal Society of London. Series A: Mathematical and Physical Sciences.

[20]  K. D. Do,et al.  Global output-feedback path tracking of unicycle-type mobile robots , 2006 .

[21]  Farzad Pourboghrat.  Exponential stabilization of nonholonomic mobile robots , 2002, Comput. Electr. Eng..

[22]  Kai-Tai Song,et al.  Tracking control of a free-ranging automatic guided vehicle , 1993 .

[23]  Trong Hieu Bui,et al.  Sliding mode control of two-wheeled welding mobile robot for tracking smooth curved welding path , 2004 .

[24]  Frank L. Lewis,et al.  Control of Robot Manipulators , 1993 .

[25]  Graham C. Goodwin,et al.  Constrained Control and Estimation , 2005 .