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Mobile robot NMPC method based on fixed time stability theory

A mobile robot and fixed time technology, applied in the field of mobile robots, can solve problems such as poor real-time performance, achieve good closed-loop performance, good interference suppression performance, and improve real-time performance

Pending Publication Date: 2022-07-29
YANCHENG INST OF TECH
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Problems solved by technology

[0004] The invention provides a mobile robot NMPC method based on a fixed time stability theory, which improves the real-time performance of the system, enables the system state to converge within a fixed time, and overcomes the problem of poor real-time performance of nonlinear model predictive control

Method used

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  • Mobile robot NMPC method based on fixed time stability theory
  • Mobile robot NMPC method based on fixed time stability theory
  • Mobile robot NMPC method based on fixed time stability theory

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Embodiment

[0051] Example: as figure 1 As shown, a mobile robot NMPC (Nonlinear Model Predictive Control) method based on the fixed-time stability theory includes the following steps:

[0052] S1. Establish a kinematic model of a two-wheel differentially driven mobile robot;

[0053] The kinematic model is: Among them, x∈R and y∈R are the position of the mobile robot, θ is the angle between the moving direction of the robot and the positive direction of X, v and ω are the linear and angular velocities of the mobile robot, and the matrix form of the state quantity is [x y θ] T , the matrix form of the control quantity is [v ω] T .

[0054] Discretize the kinematic model of a wheeled mobile robot:

[0055]

[0056] where ΔT is the sampling time.

[0057] The kinematic model of the mobile robot sets the constraint information:

[0058] S2. Introduce the Hamiltonian and discretize the continuous system to obtain the necessary discrete condition F(U,x,t) for optimality;

[0059] ...

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Abstract

The invention discloses a mobile robot NMPC method based on a fixed time stability theory. The mobile robot NMPC method comprises the following steps that a kinematic model of a two-wheel differential drive mobile robot is established; a nonlinear model predictive control problem is described as an optimal control problem, Hamiltonian is introduced, discretization processing is performed on a continuous system, necessary discretization conditions of optimality are obtained, and an optimization problem is obtained; the solution of the optimization problem is iterated by adopting a fixed time convergence rate, and the obtained solution is used as an initial solution of a continuous generalized minimum residual method to control the wheeled mobile robot, so that the point stabilization of the wheeled mobile robot is realized, better closed-loop performance and interference suppression performance are provided, the real-time performance of the system is improved, and the real-time performance of the system is improved. The state of the system can be converged in a fixed time, and the problem of poor real-time performance of nonlinear model predictive control is solved.

Description

technical field [0001] The invention relates to the technical field of mobile robots, in particular to a mobile robot NMPC method based on a fixed time stability theory. Background technique [0002] In recent years, due to the shortage of labor and rising labor costs, more and more factories and enterprises choose to use robots to replace part of the labor to help faster production; with the development of electronic communication, control theory, power electronics, artificial intelligence and other technologies With the continuous improvement and development of robot systems, the research and application of robotic systems has become a research hotspot in the industry and has received extensive attention. Among them, wheeled mobile robots have been used more maturely in logistics and transportation, convenience services, etc., cargo transportation robots in express companies, guided robots in banks, and even food delivery robots in Haidilao, etc. All are wheeled mobile ro...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 陆群刘甜田赵伟夏菽兰殷宇翔蒋成晨翁嘉鑫
Owner YANCHENG INST OF TECH
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