基于速度和加速度约束的有限控制能力路径跟踪_武星.pdfVIP

44 3 Vo l . 44 N o. 3 2012 6 J ournal of N anjing Universit y of A eronaut ics A st ronaut ics Jun . 2012 武　星　楼佩煌　唐敦兵 ( , , 2 10016 : 在考虑实际系统有限控制能力的情况下, 对非完整移动机器人提出一种完全 足速度和加速度约束的路 径跟踪技术。根据系统状态方程分析了移动机器人维持无偏差跟踪状态的条件, 先通过智能预测控制将路径偏 差转化为同号状态, 再应用滚动时域控制和约束条件设计 一种改进型最优预测控制器。当路径跟踪开始时, 控制 量从零初值调整; 当路径偏差同步消除到零时, 控制量可在速度和加速度约束下及时调整到零。仿真结果验证了 所提技术的有效性, 有限控制能力使该技术在工程应用时具有更好的可行性和适应性。 : 移动机器人; 路径跟踪; 控制受限; 最优控制; 滚动时域 : T P242 . 6 : A : 1005-2615( 2012 03-0279-06 Path Tracki ng with Fi nite Control Ability Based on Vel ocity and Accel eration Constrai nts W u X ing , L ou Peih uang , T ang D unbing ( Co lleg e of M echanical and Elect rical Engineer ing , N anjing U niver sity of A er onautics A str onautics, N anj ing , 2 10016, China : Abstract A pat h t racking technique sat isf ying velocit y and accelerat io n const raint s complet ely is present - ed fo r non-hol ono mic m obile ro bot s , in the consider ation of t he f init e cont rol ability f or pract ical sys- tems . A condit io n t hat m obil e robot s can keep an erro r-fr ee t racking st at e is analy zed acco rding t o sys- tem st at e equat ions. Firstl y, int ell ig ent predict ive contro l is used t o make pat h erro rs have the sam e sig n, and t hen an impr oved o pt imal predict ive cont roller is designed by u sing r eceding ho rizon co nt rol and co nstr aint s. When pat h t racking start s , t he contro l out put chang es fr om z ero init ial value. When pat h erro rs are el im inat ed t o zero sy nchr o