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Comparison of stabilizing NMPC designs for wheeled mobile robots: An experimental study

机译：稳定车轮移动机器人NMPC设计的比较：实验研究

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摘要

In this paper, two stabilizing nonlinear model predictive control (NMPC) designs, namely, final-state equality constraint stabilizing design and final-state inequality constraint stabilizing design have been applied to achieve two wheeled mobile robot's control objectives, i.e. point stabilization and trajectory tracking. In both controllers, final-state constraints are imposed, on the online optimization step, to guarantee the closed loop stability. As shown in the literature, both stabilizing designs were addressed to be computationally intense; thus, their real-time implementation is not tractable. Nonetheless, in this work, a recently developed toolkit implementing fast NMPC routines has been used to apply the two stabilizing designs on a mobile robot research platform after developing a C++ code, coupling the toolkit and the research platform's software. Full scale experiments implementing the two stabilizing designs are conducted and contrasted in terms of performance measures and real-time requirements.
机译：本文采用了两个稳定的非线性模型预测控制（NMPC）设计，即最终状态平等约束稳定设计和最终状态不等式约束稳定设计，实现了两个轮式移动机器人的控制目标，即点稳定和轨迹跟踪。在两个控制器中，在在线优化步骤中施加最终状态约束，以保证闭环稳定性。如文献所示，稳定设计都被解决到计算上强烈;因此，他们的实时实现不是易行的。尽管如此，在这项工作中，最近开发的工具包实现了快速NMPC例程，已用于在开发C ++代码后，耦合工具包和研究平台软件后，在移动机器人研究平台上应用两种稳定设计。实施两个稳定设计的全规模实验是在性能措施和实时要求方面进行的。

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