In this paper, a control algorithm for guiding a two wheeled mobile robot with unknown inertia to a desired point and orientation using an Adaptive Model Predictive Control (AMPC) framework is presented. The two wheeled mobile robot is modeled as a knife edge or a skate with nonholonomic kinematic constraints and the dynamical equations are derived using the Lagrangian approach. The inputs at every time instant are obtained from Model Predictive Control (MPC) with a set of nominal parameters which are updated using a recursive least squares algorithm. The efficacy of the algorithm is demonstrated through numerical simulations at the end of the paper.

翻译：本文介绍了使用适应模型预测控制(AMPC)框架指导两轮移动机器人的控算法,该机器人具有未知惯性,可以使用适应模型预测控制(AMPC)框架,引导两轮移动机器人走向一个理想点和方向。两轮移动机器人以刀刃或滑板为模型,带有非血压运动力限制,动态方程式则使用Lagrangian方法产生。每次输入都是从模型预测控制(MPC)获得的,并附有一套名义参数,这些参数使用循环最小方程算法更新。该算法的效力通过在纸张结尾处的数值模拟得到证明。