In this paper, a novel dual-mode robust model predictive control (MPC) approach is proposed for solving the tracking control problem of non-holonomoic mobile robots with additive bounded disturbance. To reduce the negative effect of disturbance and drive the state of real system closer to the one of nominal system , a robust reference signal is introduced into the cost function of MPC. In order to reduced the computation burden caused by online optimization of MPC and further improve the tracking accuracy, a dual-mode control strucuture consisting of the robust MPC and the local nonlinear robust control is developed, in which the local nonlinear robust control law is applied within a specified terminal region. Finally, simulation results on the non-holonomic mobile robot are presented to show the validity of the proposed control approach.

翻译：本文提出了一种新型鲁棒模型预测控制(MPC)双模方法，用于解决存在有界加性扰动的非完整移动机器人跟踪控制问题。为降低扰动的不利影响并促使真实系统状态趋近名义系统状态，在MPC代价函数中引入鲁棒参考信号。为减轻MPC在线优化带来的计算负担并进一步提升跟踪精度，开发了由鲁棒MPC与局部非线性鲁棒控制构成的双模控制结构，其中局部非线性鲁棒控制律在指定终端区域内应用。最后，通过非完整移动机器人仿真结果验证了所提控制方法的有效性。