摘要
针对全方位移动机器人在应用中由于延时造成控制不精确的问题,提出在机器人的运动控制中引入广义预测控制法。在基于四轮全方位移动机器人运动模型建立预测模型与运动预测控制方程中,提出了通过合理减少预测模型中的输入变量,以及将多输入多输出线性模型分解为单输入单输出线性模型,来降低其控制难度。仿真和实际应用验证了该算法能够有效地消除全方位移动机器人实时控制中延时的影响。
Aiming at the imprecision problem in the control of omni-directional robot owing to delay time, generalized predictive control was introduced into robot＇s motion control. In order to reduce the control difficulty, decrease the predictive model＇s input variants and decompose MIMO linear model down to SISO linear model in the procedure of establishing predictive model and motion predictive control equations, which derive from the motion model of a four-wheel omni-directional mobile robot. Simulation and practical application validate the method＇s performance on elimination of delaying effect in real-time control of omni-directional mobile robot.
出处
《电机与控制学报》
EI
CSCD
北大核心
2007年第1期79-82,87,共5页
Electric Machines and Control
基金
国家自然科学基金资助项目(60675049
60421002)
关键词
全方位移动机器人
运动控制
预测控制
omni-directional mobile robot
motion control
predictive control
