Switched Model Predictive Control for Nonholonomic Mobile Robots Under Adaptive Dwell Time

Qing Li; Hongjiu Yang; Yuanqing Xia; Hai Zhao

doi:10.1109/TCYB.2023.3258667

Switched Model Predictive Control for Nonholonomic Mobile Robots Under Adaptive Dwell Time

Qing Li, Hongjiu Yang, Yuanqing Xia, Hai Zhao

自动化学院

科研成果: 期刊稿件 › 文章 › 同行评审

9 引用（Scopus）

摘要

In this article, switched model predictive control (MPC) is proposed for nonholonomic mobile robots with adaptive dwell time and a dual-terminal set. The dual-terminal set is used to reduce on-line complexity of the switched MPC for the nonholonomic mobile robots with multiple constraints. By a switched signal with the adaptive dwell time, cost functions are switched to improve control performance under multiple constraints. The switched MPC with feasibility and stability can adjust a tradeoff between control performance and computational complexity for the closed-loop system. Simulation results are given to illustrate superiority of the switched MPC for nonholonomic mobile robots.

源语言	英语
页（从-至）	1-10
页数	10
期刊	IEEE Transactions on Cybernetics
DOI	https://doi.org/10.1109/TCYB.2023.3258667
出版状态	已接受/待刊 - 2023

访问文件

10.1109/TCYB.2023.3258667

其它文件与链接

链接到 Scopus 的出版物

引用此

@article{54372c33aab04f48b4d10b37abd7d1c6,

title = "Switched Model Predictive Control for Nonholonomic Mobile Robots Under Adaptive Dwell Time",

abstract = "In this article, switched model predictive control (MPC) is proposed for nonholonomic mobile robots with adaptive dwell time and a dual-terminal set. The dual-terminal set is used to reduce on-line complexity of the switched MPC for the nonholonomic mobile robots with multiple constraints. By a switched signal with the adaptive dwell time, cost functions are switched to improve control performance under multiple constraints. The switched MPC with feasibility and stability can adjust a tradeoff between control performance and computational complexity for the closed-loop system. Simulation results are given to illustrate superiority of the switched MPC for nonholonomic mobile robots.",

keywords = "Adaptive dwell time, Computational complexity, Control systems, Mobile robots, Optimal control, Predictive control, Switches, Wheels, model predictive control (MPC), nonholonomic systems, switching control",

author = "Qing Li and Hongjiu Yang and Yuanqing Xia and Hai Zhao",

note = "Publisher Copyright: IEEE",

year = "2023",

doi = "10.1109/TCYB.2023.3258667",

language = "English",

pages = "1--10",

journal = "IEEE Transactions on Cybernetics",

issn = "2168-2267",

publisher = "IEEE Advancing Technology for Humanity",

}

TY - JOUR

T1 - Switched Model Predictive Control for Nonholonomic Mobile Robots Under Adaptive Dwell Time

AU - Li, Qing

AU - Yang, Hongjiu

AU - Xia, Yuanqing

AU - Zhao, Hai

N1 - Publisher Copyright: IEEE

PY - 2023

Y1 - 2023

N2 - In this article, switched model predictive control (MPC) is proposed for nonholonomic mobile robots with adaptive dwell time and a dual-terminal set. The dual-terminal set is used to reduce on-line complexity of the switched MPC for the nonholonomic mobile robots with multiple constraints. By a switched signal with the adaptive dwell time, cost functions are switched to improve control performance under multiple constraints. The switched MPC with feasibility and stability can adjust a tradeoff between control performance and computational complexity for the closed-loop system. Simulation results are given to illustrate superiority of the switched MPC for nonholonomic mobile robots.

AB - In this article, switched model predictive control (MPC) is proposed for nonholonomic mobile robots with adaptive dwell time and a dual-terminal set. The dual-terminal set is used to reduce on-line complexity of the switched MPC for the nonholonomic mobile robots with multiple constraints. By a switched signal with the adaptive dwell time, cost functions are switched to improve control performance under multiple constraints. The switched MPC with feasibility and stability can adjust a tradeoff between control performance and computational complexity for the closed-loop system. Simulation results are given to illustrate superiority of the switched MPC for nonholonomic mobile robots.

KW - Adaptive dwell time

KW - Computational complexity

KW - Control systems

KW - Mobile robots

KW - Optimal control

KW - Predictive control

KW - Switches

KW - Wheels

KW - model predictive control (MPC)

KW - nonholonomic systems

KW - switching control

UR - http://www.scopus.com/inward/record.url?scp=85151526940&partnerID=8YFLogxK

U2 - 10.1109/TCYB.2023.3258667

DO - 10.1109/TCYB.2023.3258667

M3 - Article

AN - SCOPUS:85151526940

SN - 2168-2267

SP - 1

EP - 10

JO - IEEE Transactions on Cybernetics

JF - IEEE Transactions on Cybernetics

ER -