Homothetic tube MPC for the trajectory tracking of autonomous groundvehicles with guaranteed transient performance
Notice bibliographique
Résumé
In the past decades, autonomous ground vehicles (AGVs) are becoming attractive in a wide domain of domestic, industrial, and agricultural applications.Among the related research on AGVs, trajectory tracking control is one of the significant and fundamental one.The main challenge for this problem is how to effectively tackle system constraints induced by the hardware and environment.Many research efforts have been devoted to addressing this issue.For the existing results in the literature, model predictive control stands out a promising solution since it can systematically and efficiently handle the constraints while guaranteeing the optimal control performance according to prescribed performance index.Therefore, the MPC-based solutions to the AGV trajectory tracking problem have been widely studied by researchers.However, when considering uncertainties, there are relatively few results since it is difficult to avoid constraint violation and ensure optimal closed-loop performance, especially for the AGVs with model uncertainties.Although the robust MPC-based solutions have been studied by researchers, most of these results are relatively conservative due to the over approximation of the effect of uncertainties when the system states evolve over time.This approximation process is usually conducted offline in the robust MPC framework, thereby increasing the conservatism of handling the parametric uncertainties.In addition, most results focus on whether the AGV can finally track the desired trajectory, The transient tracking performance is not considered, which is also of paramount importance for the practical applications.Recently, a novel robust MPC approach, named homothetic tube nonlinear MPC, is reported in the literature.Compared with the robust MPC approaches, homothetic tube MPC enables the online approximation of effect of uncertainties on predicted states by considering the tube cross-section parameters as the decision variables for the MPC optimization problems, thereby leading to the enhanced control performance with comparable computational complexity to the standard tube MPC methods.Motivated by this, in this work, we aim to develop the homothetic tube nonlinear MPC algorithm for the trajectory tracking of AGVs subject to both parametric uncertainties, external disturbances, and actuator saturation.An additional state constraint will be constructed and imposed to the MPC optimization problem to guarantee the transient tracking performance.Then a novel tube propagation strategy will be developed for the robust satisfaction of the input and transient performance constraints.Finally, a numerical example and comparison study will be provided to evaluate the performance of the proposed approach.
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Prédiction distillée sur la base complète
Imitation des enseignantsNi prévalence calibrée, ni vérité terrain. Validation humaine à venir. Apprise à partir de 10 348 étiquettes directes de Codex et de 10 348 étiquettes directes de Gemma. Le mode candidate est l'union des têtes enseignantes seuillées; le consensus est leur intersection. Ces sorties portent le statut machine_predicted_unvalidated et ne sont ni des étiquettes humaines ni des étiquettes directes de modèles de pointe.
Scores Codex et Gemma par catégorie
| Catégorie | Codex | Gemma |
|---|---|---|
| Métarecherche | 0,000 | 0,000 |
| Méta-épidémiologie (sens strict) | 0,000 | 0,000 |
| Méta-épidémiologie (sens large) | 0,000 | 0,000 |
| Bibliométrie | 0,000 | 0,000 |
| Études des sciences et des technologies | 0,000 | 0,000 |
| Communication savante | 0,000 | 0,000 |
| Science ouverte | 0,000 | 0,000 |
| Intégrité de la recherche | 0,000 | 0,000 |
| Charge utile insuffisante (le modèle a refusé de juger) | 0,000 | 0,000 |
Scores machine (provisoires)
Les deux têtes enseignantes du modèle étudiant, lues sur ce travail. Un score ordonne la base pour la relecture; il n'affirme jamais une catégorie, et le statut de validation accompagne chaque rangée tel quel.
Scores de référence d'un modèle non mature (critères de maturité non atteints, 7 itérations). Un score ordonne; il n'affirme jamais une catégorie.
score_only:v0-immature-baseline · tel quel depuis la passe de notation : score_only signifie que le nombre peut ordonner les travaux, et qu'aucune étiquette de catégorie n'en découleClassification
machine, non validéePrédiction automatique; un appel candidat d’une seule tête enseignante, pas un consensus.
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