Research on Trajectory Tracking Control Algorithm for Medical Delivery Robot

In order to solve the problem that the trajectory tracking control of medical delivery robots is difficult to adapt to the complex and changeable hospital environment, an adaptive time-domain MPC trajectory tracking controller was proposed. A linear time-varying error model is established based on robot kinematics, and a time-domain parameter is adaptively optimized based on the variable-weighted particle swarm algorithm. Compared with the traditional MPC controller and the fuzzy MPC controller under the circular trajectory, the simulation results show that the adaptive time-domain MPC controller has better stability and tracking accuracy than the other two controllers. Finally, based on the ROS experimental platform, the effectiveness of improving the trajectory tracking of the controller is verified, which has certain practical significance.