Receding horizon tracking control of unicycle-type robots based on virtual structure

Zhongqi Sun, Yuanqing Xia*

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

56 Citations (Scopus)

Abstract

This paper considers the receding horizon tracking control of the unicycle-type robot subject to coupled input constraint based on virtual structure. The tracking position of the follower is considered to be a virtual structure point with respect to a Frenet–Serret frame fixed on the leader, and the desired control input of the follower not only depend on the input of the leader but also the separation vector. Firstly, a sufficient input condition for the leader robot is given to enable the follower to track its desired position while satisfying its inputs constraint. Secondly, receding horizon control scheme is designed for the follower robot, in which the recursive feasibility is guaranteed by developing a diamond-shaped positively invariant terminal-state region and its corresponding controller. Finally, simulation results are provided to verify the effectiveness of the scheme proposed.

Original languageEnglish
Pages (from-to)3900-3918
Number of pages19
JournalInternational Journal of Robust and Nonlinear Control
Volume26
Issue number17
DOIs
Publication statusPublished - 25 Nov 2016

Keywords

  • coupled input constraint
  • receding horizon control (RHC)
  • tracking
  • unicycle robot
  • virtual structure

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