Trajectory Tracking Control of Mecanum Wheels Mobile Platform Based on MPC
For the trajectory tracking control problem of the omnidirectional mobile platform of Mecanum wheels, a strategy of double closed-loop control with model predictive control (MPC) and differential forward proportional plus integral plus derivative (PID) is proposed. The attitude control loop and velo...
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| Main Authors: | , , , , |
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| Format: | Article |
| Language: | zho |
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Editorial Office of Journal of Mechanical Transmission
2023-11-01
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| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2023.11.004 |
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| _version_ | 1841546975710806016 |
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| author | Huang Xiaoyu Sun Yongzhi Li Jinrong Wang Yiting Yang Qiwei |
| author_facet | Huang Xiaoyu Sun Yongzhi Li Jinrong Wang Yiting Yang Qiwei |
| author_sort | Huang Xiaoyu |
| collection | DOAJ |
| description | For the trajectory tracking control problem of the omnidirectional mobile platform of Mecanum wheels, a strategy of double closed-loop control with model predictive control (MPC) and differential forward proportional plus integral plus derivative (PID) is proposed. The attitude control loop and velocity control loop are designed based on the kinematics characteristics of Mecanum wheels. The linear error model of the Mecanum wheels chassis is established by the attitude control loop, the quadratic objective function is designed, and the problem of path following is transformed into predictive control for the nonlinear model. In the velocity control loop, the differential forward PID controller is used to avoid the high-frequency disturbance to the system caused by frequent step changes of the input quantity, accelerate the convergence of the angular velocity of the Mecanum wheels, and enhance the stability of the system. Simulation experiments demonstrate that the controller designed in this study has better convergence speed and tracking accuracy than the commonly used trajectory algorithm, and it can provide good robustness to control the mobile platform of Mecanum wheels. |
| format | Article |
| id | doaj-art-3d5b128c371b4b4eac18a2b5b7c27d85 |
| institution | Kabale University |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2023-11-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj-art-3d5b128c371b4b4eac18a2b5b7c27d852025-01-10T14:59:25ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392023-11-0147222944815875Trajectory Tracking Control of Mecanum Wheels Mobile Platform Based on MPCHuang XiaoyuSun YongzhiLi JinrongWang YitingYang QiweiFor the trajectory tracking control problem of the omnidirectional mobile platform of Mecanum wheels, a strategy of double closed-loop control with model predictive control (MPC) and differential forward proportional plus integral plus derivative (PID) is proposed. The attitude control loop and velocity control loop are designed based on the kinematics characteristics of Mecanum wheels. The linear error model of the Mecanum wheels chassis is established by the attitude control loop, the quadratic objective function is designed, and the problem of path following is transformed into predictive control for the nonlinear model. In the velocity control loop, the differential forward PID controller is used to avoid the high-frequency disturbance to the system caused by frequent step changes of the input quantity, accelerate the convergence of the angular velocity of the Mecanum wheels, and enhance the stability of the system. Simulation experiments demonstrate that the controller designed in this study has better convergence speed and tracking accuracy than the commonly used trajectory algorithm, and it can provide good robustness to control the mobile platform of Mecanum wheels.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2023.11.004Mecanum wheelTrajectory trackingLinear error modelModel predictive controlDifferential forward PID |
| spellingShingle | Huang Xiaoyu Sun Yongzhi Li Jinrong Wang Yiting Yang Qiwei Trajectory Tracking Control of Mecanum Wheels Mobile Platform Based on MPC Jixie chuandong Mecanum wheel Trajectory tracking Linear error model Model predictive control Differential forward PID |
| title | Trajectory Tracking Control of Mecanum Wheels Mobile Platform Based on MPC |
| title_full | Trajectory Tracking Control of Mecanum Wheels Mobile Platform Based on MPC |
| title_fullStr | Trajectory Tracking Control of Mecanum Wheels Mobile Platform Based on MPC |
| title_full_unstemmed | Trajectory Tracking Control of Mecanum Wheels Mobile Platform Based on MPC |
| title_short | Trajectory Tracking Control of Mecanum Wheels Mobile Platform Based on MPC |
| title_sort | trajectory tracking control of mecanum wheels mobile platform based on mpc |
| topic | Mecanum wheel Trajectory tracking Linear error model Model predictive control Differential forward PID |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2023.11.004 |
| work_keys_str_mv | AT huangxiaoyu trajectorytrackingcontrolofmecanumwheelsmobileplatformbasedonmpc AT sunyongzhi trajectorytrackingcontrolofmecanumwheelsmobileplatformbasedonmpc AT lijinrong trajectorytrackingcontrolofmecanumwheelsmobileplatformbasedonmpc AT wangyiting trajectorytrackingcontrolofmecanumwheelsmobileplatformbasedonmpc AT yangqiwei trajectorytrackingcontrolofmecanumwheelsmobileplatformbasedonmpc |