Visual Servoing of Constrained Mobile Robots Based on Model Predictive Control

Fan, Kebin; Li, Zhijun; Xiao, Hanzhen; Zhang, Xuebo

doi:10.1109/tsmc.2016.2616486

Cited by 78 publications

(37 citation statements)

References 36 publications

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“…Definition 1: For the closed-loop system (8), the set X is said to be a robust positively invariant (RPI) set if ξ(k + n + 1|k) ∈ X for all ξ(k + n|k) ∈ X (k, n ∈ Z + ) and allowable disturbances w(k + n|k).…”

Section: B N -Step Mpc Strategymentioning

confidence: 99%

“…For the closed-loop system (8) with the control strategy (7), the objective of this paper is twofold:…”

Section: B N -Step Mpc Strategymentioning

confidence: 99%

“…Lemma 3: Let the weighting matrices Q > 0, R > 0, a scalar λ > 0 and the transition probability matrix P = [p st ] m×m be given. For system (8) under the SCP (5), if there exist a matrix Z s,N , positive-definite matricesỸ 1s,N and Y 2s,N , and a scalar ϕ > 0 such that, for ∀s ∈ M, the following matrix inequality…”

Section: B Terminal Cost Functionmentioning

confidence: 99%

“…Over the past few decades, due to its practical insights, the model predictive control (MPC) problem has attracted considerable research interest in systems with bounded disturbances, which gives rise to robust MPC (RMPC), see [4], [10], [17], [35] for discrete-time systems and [21], [26]- [28] for continuous-time systems. Up to date, RMPC strategy has been extensively applied into various engineering areas such as chemical process, power systems, DC motors and mobile robots [8], [10]- [14], [31], [36]. From the technical viewpoint, there are generally two approaches dealing with the external bounded disturbances for discrete-time systems with respect to the RMPC problem, namely, the "min-max" optimization approach [24] and the open-loop optimization approach [3], [15].…”

Section: Introductionmentioning

confidence: 99%

See 3 more Smart Citations

N-Step MPC for Systems With Persistent Bounded Disturbances Under SCP

Song

Wang

Liu

et al. 2020

IEEE Trans. Syst. Man Cybern, Syst.

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This paper is concerned with the N -step model predictive control (MPC) problem for a class of constrained systems with persistent bounded disturbances under the stochastic communication protocol (SCP). The control signals are transmitted to the plant via a shared network subject to a prescribed SCP for the purpose of avoiding data collisions. The SCP scheduling, which is governed by a Markov chain, is applied to orchestrate the transmission order of the controller nodes. Under the SCP, only one control node is allowed to update the control signal sent to the plant at each communication instant. Our aim is to design a set of desired controllers in the framework of N -step MPC such that the mean-square input-to-state stability of the closedloop system is guaranteed. An optimization algorithm consisting of both off-line and online parts is developed to cope with the design problem of the N -step controller. Finally, a numerical example is utilized to illustrate the validity of the proposed Nstep MPC strategy.Index Terms-N -step model predictive control, stochastic communication protocol, mean-square input-to-state stability, persistent bounded disturbances.Yan Song received the B.Sc. degree in materials science and engineering

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Section: B N -Step Mpc Strategymentioning

confidence: 99%

“…For the closed-loop system (8) with the control strategy (7), the objective of this paper is twofold:…”

Section: B N -Step Mpc Strategymentioning

confidence: 99%

Section: B Terminal Cost Functionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

N-Step MPC for Systems With Persistent Bounded Disturbances Under SCP

Song

Wang

Liu

et al. 2020

IEEE Trans. Syst. Man Cybern, Syst.

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“…Besides, MPC technique can be introduced to construct the motion planning for the tractor‐trailer vehicle system. The details about MPC can be found in Refs …”

Section: Dynamic Controllermentioning

confidence: 99%

RBFNN‐Based Identification and Compensation Mechanism for Disturbance‐Like Parametric Friction with Application to Tractor‐Trailer Vehicles

Yue

Hou

Gao

et al. 2018

Asian Journal of Control

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This paper develops an effective identification and compensation mechanism for the disturbance-like parametric friction of a typical underactuated tractor-trailer vehicle system. To begin with, a parametric friction model is proposed to describe various friction effects associated with the system velocity, and then a disturbance-like parametric friction concept is introduced by considering the motion characteristics of tractor-trailer vehicle. Next, the radial basis function neural network (RBFNN) is employed to identify the friction due to its high convergence rate, superior approximation precision and local-minima avoidance ability. Afterwards, a sliding mode control (SMC) is utilized to compensate the identified friction due to its numerous merits, such as strong robustness and fast convergence. On the basis of the effective combination of identification and compensation mechanism, a favorable transient performance can be achieved during the desired velocity tracking process. Lastly, the simulation results confirm that the RBFNN-based disturbance-like parametric friction identification and compensation mechanism can effectively improve the trajectory tracking performance of tractor-trailer vehicle.

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Quasi‐min‐max MPC for visual servoing stabilization of omnidirectional wheeled mobile robots

Lin

Xing

et al. 2022

Asian Journal of Control

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This paper proposes a new visual servoing quasi‐min‐max MPC algorithm for stabilization control of an omnidirectional wheeled mobile robot subject to physical and visual constraints. The visual servoing dynamics of the robot are modeled as the state‐dependent linear error system with nonlinear control inputs of rotation and deflection velocities of wheels. The state‐dependent linear error system is covered as linear parameters‐varying models which is used to design the visual servoing quasi‐min‐max MPC controller. The actual control inputs of the robot are then computed by the solution of an inverse algebraic equation of the MPC actions. The recursive feasibility and stability of the new visual servoing MPC are ensured by some LMIs conditions. The performance and practicability of the visual servoing MPC are verified by some simulation and experiment results.

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Visual Servoing of Constrained Mobile Robots Based on Model Predictive Control

Cited by 78 publications

References 36 publications

N-Step MPC for Systems With Persistent Bounded Disturbances Under SCP

N-Step MPC for Systems With Persistent Bounded Disturbances Under SCP

RBFNN‐Based Identification and Compensation Mechanism for Disturbance‐Like Parametric Friction with Application to Tractor‐Trailer Vehicles

Quasi‐min‐max MPC for visual servoing stabilization of omnidirectional wheeled mobile robots

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