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A Robust Model Predictive Control Strategy for Trajectory Tracking of Omni-directional Mobile Robots

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Abstract

This paper proposes a robust model predictive control (MPC) strategy for the trajectory tracking control of a four-mecanum-wheeled omni-directional mobile robot (FM-OMR) under various constraints. The method proposed in this paper can solve various constraints while implementing trajectory tracking of the FM-OMR. Firstly, a kinematics model with constraint relationship of the FM-OMR is established. On the basis of the kinematics model, the kinematics trajectory tracking error model of the FM-OMR is further formulated. Then, it is transformed into a constrained quadratic programming(QP) problem by the method of MPC. In addition, aiming at the speed deficiencies of conventional neural networks in QP solving, a delayed neural network (DNN) is applied to solve the optimal solution of the QP problem, and compared with the Lagrange programming neural network (LPNN) to show the rapidity of the DNN. Finally, two simulation cases considering bounded random disturbance are provided to verify the robustness and effectiveness of the proposed method. Theoretical analysis and simulation results show that the control strategy is effective and feasible.

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Acknowledgements

The work in this paper was supported in part by NSFC (61573148), Science and Technology Planning Project of Guangdong(2017B090901043), the Science and Technology Planning Project of Guangzhou (201604046015), Guangzhou University Innovation and Entrepreneurship Education Project (2017271201 and 201709P07).

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Authors and Affiliations

  1. School of Automation Science and Engineering, South China University of Technology, Guangzhou, 510006, China

    Dongliang Wang, Wu Wei, Yanjie Li & Yong Gao

  2. School of Automation, Guangdong University of Technology, Guangzhou, 510006, China

    Yao Yeboah

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  1. Dongliang Wang
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  2. Wu Wei
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  3. Yao Yeboah
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  4. Yanjie Li
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  5. Yong Gao
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Correspondence to Wu Wei.

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Wang, D., Wei, W., Yeboah, Y. et al. A Robust Model Predictive Control Strategy for Trajectory Tracking of Omni-directional Mobile Robots. J Intell Robot Syst 98, 439–453 (2020). https://doi.org/10.1007/s10846-019-01083-1

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