Regular Papers

International Journal of Control, Automation, and Systems 2024; 22(7): 2251-2262

https://doi.org/10.1007/s12555-023-0207-z

© The International Journal of Control, Automation, and Systems

Nonlinear Disturbance Observer Incorporated Model Predictive Strategy for Wheeled Mobile Robot’s Trajectory Tracking Control

Jiguang Peng, Hanzhen Xiao*, and Guanyu Lai

Guangdong University of Technology

Abstract

In this paper, we discuss a nonlinear disturbance observer-based double closed-loop control system for managing a wheeled mobile robot (WMR) and achieving trajectory tracking control. The focus of our study is on the topic of trajectory tracking control for WMR in the presence of external disturbances. Our proposed control strategy addresses the two main issues of velocity constraint and external disturbances. Specifically, we employ a kinematic tracking error model to produce the constrained virtual velocity in the outer loop of a neural-dynamic optimizationbased model predictive control (MPC). Additionally, we create a nonlinear disturbance observer (NDO) based on the dynamic model to monitor external disturbances. To achieve accurate trajectory tracking for disturbances compensation, we utilize a robust controller. We confirm the stability of our proposed controller using the Lyapunov theory. Finally, two numerical simulation experiments demonstrate the effectiveness and reliability of our proposed controller.

Keywords Model predictive control (MPC), nonlinear disturbance observer (NDO), trajectory tracking control, wheeled mobile robot (WMR).

Article

Regular Papers

International Journal of Control, Automation, and Systems 2024; 22(7): 2251-2262

Published online July 1, 2024 https://doi.org/10.1007/s12555-023-0207-z

Copyright © The International Journal of Control, Automation, and Systems.

Nonlinear Disturbance Observer Incorporated Model Predictive Strategy for Wheeled Mobile Robot’s Trajectory Tracking Control

Jiguang Peng, Hanzhen Xiao*, and Guanyu Lai

Guangdong University of Technology

Abstract

In this paper, we discuss a nonlinear disturbance observer-based double closed-loop control system for managing a wheeled mobile robot (WMR) and achieving trajectory tracking control. The focus of our study is on the topic of trajectory tracking control for WMR in the presence of external disturbances. Our proposed control strategy addresses the two main issues of velocity constraint and external disturbances. Specifically, we employ a kinematic tracking error model to produce the constrained virtual velocity in the outer loop of a neural-dynamic optimizationbased model predictive control (MPC). Additionally, we create a nonlinear disturbance observer (NDO) based on the dynamic model to monitor external disturbances. To achieve accurate trajectory tracking for disturbances compensation, we utilize a robust controller. We confirm the stability of our proposed controller using the Lyapunov theory. Finally, two numerical simulation experiments demonstrate the effectiveness and reliability of our proposed controller.

Keywords: Model predictive control (MPC), nonlinear disturbance observer (NDO), trajectory tracking control, wheeled mobile robot (WMR).

IJCAS
July 2024

Vol. 22, No. 7, pp. 2055~2340

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