Model predictive tracking control for wheeled mobile robots based on polytopic linear differential inclusion

Liu, Zhao; Yang, Hongjiu; Wang, Shizhan; Wang, Shuaiying

doi:10.23919/ccc50068.2020.9189090

Cited by 2 publications

(1 citation statement)

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“…Motivated by the above reasons, this paper designs a framework for combining MPC and FTC method based on the TVIE by improving the traditional IE [26], furthermore proposes an TVIE-based fault-tolerant MPC (TVIE-based FTMPC) algorithm to enable satisfactory trajectory tracking performance of the WMR system with actuator constraints and fault. Moreover, the recursive feasibility of the TVIE-based FTMPC optimization problem and asymptotic stability of the closed-loop system is guaranteed, where a terminal penalty as a tracking error cost term and a terminal constraint associated with both the terminal state and the admis-sible reference are included [28,29]. The main novelties of this paper are:…”

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confidence: 99%

TVIE-based fault-tolerant model predictive control for trajectory tracking of mobile robot

Zhu,

Ying,

Wang

2023

Preprint

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This paper investigates the trajectory tracking control issue for linear parameter-varying (LPV) system of wheeled mobile robot (WMR) with actuator fault and constraints, where a time-varying intermediate estimator (TVIE)-based fault-tolerant model predictive control (MPC) method is proposed. A new estimation-based predictive model is designed by introducing the estimations of error state and fault from the TVIE. Moreover, compared with the existing traditional IE or extended state observer(ESO), the estimation performance of TVIE whose gain is optimized online based on an objective function is better. To guarantee stability and recursive feasibility, the bimodal MPC strategy is used, where a terminal penalty and a terminal constraint are included. Finally, the effectiveness and superiority of the proposed approach is illustrated by two experiments.

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confidence: 99%