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考虑主动容错控制和再生制动的自主移动机器人非线性预测运动控制

Nonlinear Predictive Motion Control for Autonomous Mobile Robots Considering Active Fault-Tolerant Control and Regenerative Braking.

作者信息

Hang Peng, Lou Baichuan, Lv Chen

机构信息

School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore 639798, Singapore.

出版信息

Sensors (Basel). 2022 May 23;22(10):3939. doi: 10.3390/s22103939.

DOI:10.3390/s22103939
PMID:35632352
原文链接:https://pmc.ncbi.nlm.nih.gov/articles/PMC9147955/
Abstract

To further advance the performance and safety of autonomous mobile robots (AMRs), an integrated chassis control framework is proposed. In the longitudinal motion control module, a velocity-tracking controller was designed with the integrated feedforward and feedback control algorithm. Besides, the nonlinear model predictive control (NMPC) method was applied to the four-wheel steering (4WS) path-tracking controller design. To deal with the failure of key actuators, an active fault-tolerant control (AFTC) algorithm was designed by reallocating the driving or braking torques of the remaining normal actuators, and the weighted least squares (WLS) method was used for torque reallocation. The simulation results show that AMRs can advance driving stability and braking safety in the braking failure condition with the utilization of AFTC and recapture the braking energy during decelerations.

摘要

为了进一步提升自主移动机器人（AMR）的性能和安全性，提出了一种集成底盘控制框架。在纵向运动控制模块中，采用前馈与反馈控制算法相结合的方式设计了速度跟踪控制器。此外，将非线性模型预测控制（NMPC）方法应用于四轮转向（4WS）路径跟踪控制器设计。为应对关键执行器故障，通过重新分配其余正常执行器的驱动或制动力矩设计了一种主动容错控制（AFTC）算法，并采用加权最小二乘法（WLS）进行力矩重新分配。仿真结果表明，利用AFTC，AMR在制动故障情况下能够提高行驶稳定性和制动安全性，并在减速过程中回收制动能量。

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