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

5 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

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10.1109/TCYB.2023.3258667

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引用此

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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.",

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AU - Li, Qing

AU - Yang, Hongjiu

AU - Xia, Yuanqing

AU - Zhao, Hai

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