Model predictive control of a mobile mehatronic system

Glavni cilj ove disertacije je razvoj odgovarajućeg modelsko prediktivnog regulatora (MPC) za upravljanje mobilnim mehatroničkim sustavom sa svesmjernim kotačima. Kao rješenje MPC regulatora dobiva se upravljački signal, a da su pritom zadovoljena sva ograničenja koja sustav uvodi (ograničenja na varijable stanja i na ulaze dinamičkog modela). Definiranje odgovarajući diskretni dinamički model pogodan za naponsko upravljanje te je zapisan u prostoru stanja, a zatim je isprojektiran MPC takav da sustav dovodi u ravnotežnu točku. Dodatno, problem nominalnog MPC-a je proširen tzv. steady-state target problemom kojim se omogućuje dovođenje sustava u stacionarnu točku različitu od nule. Razmotreni su rezultati simulacijskih eksperimenata za nekoliko scenarija upravljanja.The main goal of this thesis is to develop an adequate model predictive controller (MPC) to control mobile mechatronic system with omnidirectional wheels. As a result of model predictive control, the input of a system is constructed while the constraints of a system are satisfied (input and state constraints of a dynamic model). Adequate discrete dynamic model of a system is defined, suitable for motor voltage control, state-space formulation is constructed and MPC is designed so that system goes to an equilibrium point. Additionally, the nominal MPC problem is extended with the so-called steady-state target problem which allows guiding the system to a steady-state point other than zero. Results of simulation experiments for different control scenarios are discussed