Abstract

This article addresses the control design problem for nonlinear wheeled mobile robot (WMR) tracking with a control delay. The tracking model is built by WMR dynamical equation. The state-space representations of the controlled WMR motion system and the dynamical target system are obtained by transformations. Then, the tracking error system with control delay is achieved and a feedback linearization delayed control is presented. The physical implement problem of the predictive control is solved by constructing a high-gain predictor, based on which the predicted states in feedback linearization controllers are estimated by the predictive states. The simulation results demonstrate that the physical implement problem are solved well by using high-gain predictor. The target path are successfully tracked by the designed feedback linearization controllers of state feedback and output feedback.

摘要

本文解决了具有控制延迟的非线性轮式移动机器人 (WMR) 跟踪的控制设计问题。跟踪模型由WMR动力学方程建立。受控 WMR 运动系统和动态目标系统的状态空间表示是通过转换获得的。然后，实现了具有控制延迟的跟踪误差系统，并提出了反馈线性化延迟控制。通过构建高增益预测器解决预测控制的物理实现问题，在此基础上通过预测状态估计反馈线性化控制器中的预测状态。仿真结果表明，使用高增益预测器很好地解决了物理实现问题。