【文献07】基于MPC的WMR点镇定-极坐标系下和轨迹跟踪

参考：

Kuhne F , Lages W , Silva J D . Point stabilization of mobile robots with nonlinear model predictive control[J]. 2005.

Point Stabilization for Wheeled Mobile Robots Using Model  Predictive Control

Gu D , Hu H . Receding Horizon tracking control of wheeled mobile robots[J]. IEEE Transactions on Control Systems Technology, 2006, 14(4):743-749.

 

https://drive.wps.cn/mine/28717934032

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【1】Kuhne F , Lages W , Silva J D . Point stabilization of mobile robots with nonlinear model predictive control[J]. 2005.

运动学模型

 

MPC控制-无终端项

MPC控制-加入终端项

MPC控制-极坐标系下

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【2】Point Stabilization for Wheeled Mobile Robots Using Mode Predictive Control  

 

 

 

 

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【3】Gu D , Hu H . Receding Horizon tracking control of wheeled mobile robots[J]. IEEE Transactions on Control Systems Technology, 2006, 14(4):743-749.

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