Formation control of multiple mecanum-wheeled mobile robots with physical constraints and uncertainties

摘要

Aiming at the formation control of multiple Mecanum-wheeled mobile robots (MWMRs) with physical constraints and model uncertainties, a novel robust control scheme that combines model predictive control (MPC) and extended state observer-based adaptive sliding mode control (ESO-ASMC) is proposed in this paper. First, a linear MPC strategy is proposed to address the motion constraints of MWMRs, which can transform the robot formation model based on leader-follower into a constrained quadratic programming (QP) problem. The QP problem can be solved iteratively online by a delay neural network (DNN) to obtain the optimal control velocity of the follower robot. Then, to address the input saturation constraints, model uncertainties and unknown disturbances in the dynamic model, an improved ESO-ASMC is proposed and compared with the robust adaptive terminal sliding mode control (RATSMC) and the conventional sliding mode control (SMC) to prove the effectiveness. The proposed scheme, considering the optimal control velocity obtained by the kinematics controller as the given desired velocity of the dynamics controller, can implement precise formation control, while solving various physical constraints of the robot, and eliminating the effects of model uncertainties and disturbances. Finally, through a comparative simulation case, the effectiveness and robustness of the proposed method are verified.