"踏板机器人-车辆"广义动力学Tube-MPC鲁棒速度跟踪控制OA

To address the big tracking errors and low robustness under environmental disturbances caused by the cascaded control architecture in traditional driving robot-vehicle systems,this paper proposes a Tube-MPC speed tracking control method based on a generalized dynamic model of"pedal robot-vehicle".A parallelogram structure robot was designed to simplify the computational complexity and achieve single-degree-of-freedom kinematic mapping.To mitigate modeling errors inherent in traditional empirical formulas,the motor load torque was derived using D'Alembert's principle.By combining the Engine MAP,hydraulic braking characteristics,and vehicle longitudinal dynamics equations,a generalized dynamic model with a direct voltage-speed mapping was built to eliminate cascaded control errors.A pedal switching strategy was developed and an integrated Tube-MPC robust control framework was designed.Through simulation and real vehicle tests under environmental disturbances,it is shown that the proposed method significantly improves the speed tracking accuracy and robustness compared with traditional hierarchical control and other MPC.