CAJ | 학술논문

针对机器人小车控制过程中的轨迹跟踪问题,以控制量为离散值的轮式小车为研究对象,提出一种新的预测控制算法.建立小车在离散状态空间下的运动学模型,并根据此模型设计预测控制算法,以克服实际过程中的不确定性.然后,为解决传统预测控制算法在应用上出现的计算量指数增长问题,基于改进模拟退火的快速寻优算法,设计一种新的预测控制策略,以同时保证小车轨迹跟踪的精确性与实时性.通过仿真实验给出了该算法下小车对不同轨迹的跟踪情况及鲁棒性测试,在与传统预测控制算法计算量的比较结果中表明,该算法能够减少计算时间且实现对轨迹有效地跟踪,并保证较高的稳定性,同时,该算法可以推广到各类控制量为离散值的预测控制问题.
침대궤기인소차공제과정중적궤적근종문제,이공제량위리산치적륜식소차위연구대상,제출일충신적예측공제산법.건립소차재리산상태공간하적운동학모형,병근거차모형설계예측공제산법,이극복실제과정중적불학정성.연후,위해결전통예측공제산법재응용상출현적계산량지수증장문제,기우개진모의퇴화적쾌속심우산법,설계일충신적예측공제책략,이동시보증소차궤적근종적정학성여실시성.통과방진실험급출료해산법하소차대불동궤적적근종정황급로봉성측시,재여전통예측공제산법계산량적비교결과중표명,해산법능구감소계산시간차실현대궤적유효지근종,병보증교고적은정성,동시,해산법가이추엄도각류공제량위리산치적예측공제문제.
A predictive control method is presented to solve the tracking problem of wheeled vehicle with discrete control value.A kinematic model of the vehicle is constructed in discrete state space,and a predictive control algorithm is designed.Predictive control strategy,based on the improved of fast optimization algorithm SA is proposed to guarantee the high tracking accuracy in real-time,and overcome the problem of the exponential raising in computing in traditional ways.The simulation results show the effectiveness of the proposed algorithm,and meanwhile,this method can also be extended to all the predictive control problems with discrete control value similarly.