Trajectory Tracking Control of Mecanum Wheels Mobile Platform Based on MPC

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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Bibliographic Details
Main Authors: Huang Xiaoyu, Sun Yongzhi, Li Jinrong, Wang Yiting, Yang Qiwei
Format: Article
Language:zho
Published: Editorial Office of Journal of Mechanical Transmission 2023-11-01
Series:Jixie chuandong
Subjects:
Mecanum wheel
Trajectory tracking
Linear error model
Model predictive control
Differential forward PID
Online Access:http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2023.11.004
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