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基于模型预测控制的移动机器人轨迹跟踪 被引量:12

Trajectory Tracking Based on Model Predictive Control for Omni-directional Mobile Robot
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摘要 通过分析与建立全向移动机器人运动学模型,研究了RoboCup中型组足球机器人的轨迹跟踪问题。采用线性化的全动态误差模型对系统进行描述,并在满足机器人的运动学约束及动力学约束条件下,应用基于拉盖尔函数的模型预测控制器产生最优控制序列,在保证跟踪动态性能的同时能够有效降低算法的计算量。仿真结果验证了算法的可行性和有效性。 通过分析与建立全向移动机器人运动学模型,研究了RoboCup中型组足球机器人的轨迹跟踪问题。采用线性化的全动态误差模型对系统进行描述,并在满足机器人的运动学约束及动力学约束条件下,应用基于拉盖尔函数的模型预测控制器产生最优控制序列,在保证跟踪动态性能的同时能够有效降低算法的计算量。仿真结果验证了算法的可行性和有效性。
出处 《控制工程》 CSCD 北大核心 2011年第S1期80-85,共6页 Control Engineering of China
关键词 足球机器人 轨迹跟踪 拉盖尔函数 模型预测控制 运动学和动力学约束 soccer robot trajectory tracking Laguerre function model predictive control kinematics and dynamic constraints
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参考文献10

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