重庆理工大学学报2026，Vol.40Issue(13)：1-10,10.DOI:10.3969/j.issn.1674-8425(z).2026.07.001
"踏板机器人-车辆"广义动力学Tube-MPC鲁棒速度跟踪控制
Tube-MPC speed tracking control based on the generalized dynamics model of"pedal robot-vehicle"
摘要
Abstract
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.关键词
踏板机器人/速度跟踪控制/建模/鲁棒控制/Tube-MPCKey words
pedal robot/speed tracking control/modeling/robust control/Tube-MPC分类
交通工程引用本文复制引用
何友国,邓肯,蔡英凤,袁朝春,田力威.."踏板机器人-车辆"广义动力学Tube-MPC鲁棒速度跟踪控制[J].重庆理工大学学报,2026,40(13):1-10,10.基金项目
国家自然科学基金项目(52225212,52272418,U22A20100,5217120774) （52225212,52272418,U22A20100,5217120774）
国家重点研发计划项目(2022YFB2503302) （2022YFB2503302）
江苏大学农业装备学院项目(NZXB20210103) （NZXB20210103）
辽宁省揭榜挂帅项目(2023JH1/10400099) （2023JH1/10400099）
