TY - GEN
T1 - Trajectory Tracking Control of an Amphibious Spherical Robot Using MPC Approach
AU - Liu, Meng
AU - Guo, Shuxiang
AU - Shi, Liwei
AU - Hou, Xihuan
AU - Yin, He
AU - Li, Ao
AU - Li, Zan
AU - Xia, Debin
AU - Zhou, Mugen
N1 - Publisher Copyright:
© 2021 IEEE.
PY - 2021/8/8
Y1 - 2021/8/8
N2 - Trajectory tracking control is a basic problem in rescue, detection and obstacle avoidance tasks. The trajectory tracking process has its own constraints, and the core of model predictive control is to solve the quadratic programming problem with constraints, so MPC is used to solve the trajectory tracking problem of amphibious spherical robot in this paper. Firstly, based on the 3-DOF dynamic state space equation of the robot, the model is approximately linearized and discretized to facilitate the design of controller. To solve the difficulty of adjusting the weight matrix of MPC, an adaptive parameter adjustment method based on output error is designed in this paper. The linear trajectory and square trajectory are simulated on MATLAB and Gazebo simulation platform respectively. The simulation results verify the applicability and stability of the designed controller.
AB - Trajectory tracking control is a basic problem in rescue, detection and obstacle avoidance tasks. The trajectory tracking process has its own constraints, and the core of model predictive control is to solve the quadratic programming problem with constraints, so MPC is used to solve the trajectory tracking problem of amphibious spherical robot in this paper. Firstly, based on the 3-DOF dynamic state space equation of the robot, the model is approximately linearized and discretized to facilitate the design of controller. To solve the difficulty of adjusting the weight matrix of MPC, an adaptive parameter adjustment method based on output error is designed in this paper. The linear trajectory and square trajectory are simulated on MATLAB and Gazebo simulation platform respectively. The simulation results verify the applicability and stability of the designed controller.
KW - Adaptive parameter adjustment
KW - Amphibious spherical robot
KW - Model predictive control
KW - Trajectory tracking
UR - https://www.scopus.com/pages/publications/85115154190
U2 - 10.1109/ICMA52036.2021.9512688
DO - 10.1109/ICMA52036.2021.9512688
M3 - Conference contribution
AN - SCOPUS:85115154190
T3 - 2021 IEEE International Conference on Mechatronics and Automation, ICMA 2021
SP - 639
EP - 644
BT - 2021 IEEE International Conference on Mechatronics and Automation, ICMA 2021
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 18th IEEE International Conference on Mechatronics and Automation, ICMA 2021
Y2 - 8 August 2021 through 11 August 2021
ER -