Trajectory Tracking Control of Transformer Inspection Robot Using Distributed Model Predictive Control

Abstract

To overcome the difficulty in tracking the trajectory of an inspection robot inside a transformer, this paper proposes a distributed model predictive control method. First, the kinematics and dynamics models of a robot in transformer oil are established based on the Lagrange equation. Then, by using the nonlinear model predictive control method and following the distributed control theory, the motion of a robot in transformer oil is decoupled into five independent subsystems. Based on this, a distributed model predictive control (DMPC) method is then developed. Finally, the simulation results indicate that a robot motion control system based on DMPC achieves high tracking accuracy and robustness with reduced computing complexity, and it provides an effective solution for the motion control of robots in narrow environments.

An Optimal Hierarchical Control Strategy for 4WS-4WD Vehicles Using Nonlinear Model Predictive Control

“…In (12), when the second term of the equation ϕ is small, sin ϕ ≈ ϕ, then the second term of the equation above, which is a fourth-order term, can be ignored.…”

“…Autonomous driving has emerged as a prominent topic for research in recent years [1][2][3][4][5][6][7][8]. Trajectory tracking is a fundamental component of autonomous driving technology that has garnered a lot of interest [9][10][11][12][13][14].…”