高技术通讯2026，Vol.36Issue(6)：623-631,9.DOI:10.3772/j.issn.1002-0470.2026.06.008
液压驱动型光伏清扫机器人MPC路径跟踪控制
MPC path tracking control of hydraulic driven photovoltaic cleaning robot
摘要
Abstract
To address the issues of unstable turning path tracking and excessive lateral errors in hydraulically driven pho-tovoltaic(PV)cleaning robots during path-following tasks,this study proposes a multi-constrained model predictive control(MPC)strategy based on traditional MPC.First,the kinematic model,dynamic model,and mathematical model of the valve-controlled hydraulic motor for the robot are established.Next,a path-tracking model predictive controller is designed based on the robot's linear tracking error model.A dual-coordinate tracking method(cen-troid-rear axle center)is adopted to derive the steering angle constraint for the robot's rear wheels,while an anti-windup two-degree-of-freedom(2-DOF)proportional integral derivative(PID)algorithm is employed to control the rear-wheel steering angle.Finally,co-simulation is conducted using CarSim and Matlab/Simulink.The results demonstrate that,compared to the pure pursuit algorithm and the linear quadratic regulator(LQR)algorithm,the improved MPC algorithm effectively reduces lateral errors during turning,exhibits better stability,and enhances the operational safety of PV cleaning robots.关键词
光伏清扫机器人/液压马达/路径跟踪/模型预测控制/多目标约束Key words
photovoltaic cleaning robot/hydraulic motor/path tracking/model predictive control/multi ob-jective constraint引用本文复制引用
罗则,米梓瑞,刘福才,高英杰..液压驱动型光伏清扫机器人MPC路径跟踪控制[J].高技术通讯,2026,36(6):623-631,9.基金项目
河北省自然科学基金(F2022203043)和河北省重点实验室绩效补助经费(22567612H)资助项目. （F2022203043）
