具有排除约束的鲁棒模型预测轨迹跟踪控制

For trajectory tracking control problems with uncertainties and exclusion constraints, a computationally efficient robust model predictive unreachable trajectory tracking control algorithm is proposed. Firstly, a feasible periodic reference trajectory satisfying all constraints is introduced and the separating hyperplanes between the uncertain system state set and all exclusion constraint sets are calculated. The exclusion constraint safe sets are generated and the inherently nonconvex exclusion constraints are converted into closed polyhedral constraints. Then, by introducing auxiliary variables, the trajectory planning problem with exclusion constraints and the tracking control problem are integrated into an optimization problem, which is solved using quadratic programming and the actual system state trajectory converges to the optimal reachable reference trajectory. In addition, the algorithm can ensure the recursive feasibility and the robust stability. Finally, the effectiveness and efficiency of the proposed algorithm are verified by the simulation.