Model Predictive Control Mpc Algorithm For Mobile Robot
&subtitle=This%20article%20focuses%20on%20the%20trajectory%20tracking%20problem%20of%20mobile%20manipulators%20(MMs).%20Firstly%2C%20we%20construct%20a%20position%20and%20orientation%20model%20predictive%20tracking%20control%20(POMPTC)%20scheme%20for%20mobile%20manipulators.%20The%20proposed%20POMPTC%20scheme%20can%20simultaneously%20minimize%20the%20tracking%20error%2C%20joint%20velocity%2C%20and%20joint%20acceleration.%20Moreover%2C%20it%20can%20achieve%20synchronous%20control%20for%20the%20position%20and%20orientation%20of%20the%20end-effector.%20Secondly%2C%20a%20finite-time%20convergent%20neural%20dynamics%20(FTCND)%20model%20is%20constructed%20to%20find%20the%20optimal%20solution%20of%20the%20POMPTC%20scheme.%20Then%2C%20based%20on%20the%20proposed%20POMPTC%20scheme%2C%20a%20non-singular%20fast%20terminal%20sliding%20model%20(NFTSM)%20control%20method%20is%20presented%2C%20which%20considers%20the%20disturbances%20caused%20by%20the%20base%20motion%20on%20the%20manipulator%20at%20the%20dynamic%20level.%20It%20can%20achieve%20finite-time%20tracking%20performance%20and%20improve%20the%20anti-disturbances%20ability.%20Finally%2C%20simulation%20and%20experiments%20show%20that%20the%20proposed%20control%20method%20has%20the%20advantages%20of%20strong%20robustness%2C%20fast%20convergence%2C%20and%20high%20control%20accuracy.)
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