Model predictive tracking control with disturbance compensation for wheeled mobile robots in an environment with obstacles |
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| Institution: | 1. Communication Engineering Department, Al-Hussein Bin Talal University, Ma’an, Jordan;2. Electrical Engineering Department, Al-Hussein Bin Talal University, Ma’an, Jordan;3. Computer Engineering Department, The University of Jordan, Amman, Jordan;4. Telecommunication Engineering Department, Yarmouk University, Irbid, Jordan;1. Graduate School of Information Science and Technology, Osaka University, Yamadaoka 1-5, Suita565-0871, Osaka, Japan;2. Department of Mathematics and Statistics, Texas Tech University, 1108 Memorial Circle, Lubbock79409, TX, USA;1. Department of Control Science and Engineering, Tongji University, Shanghai 200092, China;2. Key Laboratory of Advanced Control and Optimization for Chemical Processes of Ministry of Education, East China University of Science and Technology, Shanghai 200237, China;3. School of Electrical and Automation Engineering, East China Jiaotong University, Nanchang 330013, China |
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| Abstract: | This paper explores the trajectory tracking control problem for a wheeled mobile robot (WMR) in an environment with obstacles and unknown disturbances. A fixed-time extended state observer is presented, which is utilized to estimate unknown disturbances and improve the convergence speed of estimation errors. By introducing the obstacle avoidance cost, a model predictive controller with disturbance compensation is proposed to guarantee desired tracking performance in the presence of obstacles. The proposed method is analyzed for recursive feasibility and closed-loop system stability subject to unknown disturbances and obstacles. Finally, both simulation and experiment are conducted to express the satisfactory tracking effect of the developed approach. |
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