@inproceedings{26cfdb78b1d94498aa370350003f637d,
title = "Parallel Structure of Six Wheel-legged Robot Model Predictive Tracking Control based on Dynamic Model",
abstract = "In the research of wheel-legged robots, trajectory tracking control is the inevitable requirement. In this paper, a trajectory tracking control scheme based on model predictive control for the parallel mechanism of six wheel-legged robot is proposed. A dynamic model was employed to reduce the amount of calculations for planning and control. In the model, the dynamic nonlinear constraints such as the tire slip rate and the roll caused by the lateral acceleration need to be considered. Finally, the control method is verified in the dynamic model. The simulation results show that all dynamic constraints can be maintained within a given interval and the control method has obvious tracking effect improvement.",
keywords = "MPC, dynamic model, trajectory tracking, wheel-legged robot",
author = "Bomeng Wang and Junzheng Wang and Shoukun Wang and Jiehao Li",
note = "Publisher Copyright: {\textcopyright} 2019 IEEE.; 2019 Chinese Automation Congress, CAC 2019 ; Conference date: 22-11-2019 Through 24-11-2019",
year = "2019",
month = nov,
doi = "10.1109/CAC48633.2019.8996248",
language = "English",
series = "Proceedings - 2019 Chinese Automation Congress, CAC 2019",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "5143--5148",
booktitle = "Proceedings - 2019 Chinese Automation Congress, CAC 2019",
address = "United States",
}