TY - JOUR
T1 - Self-triggered MPC for trajectory tracking of unicycle-type robots with external disturbance
AU - Cao, Qun
AU - Sun, Zhongqi
AU - Xia, Yuanqing
AU - Dai, Li
N1 - Publisher Copyright:
© 2019 The Franklin Institute
PY - 2019/7
Y1 - 2019/7
N2 - In this paper, a self-triggered model predictive controller (MPC) strategy for nonholonomic vehicle with coupled input constraint and bounded disturbances is presented. First, a self-triggered mechanism is designed to reduce the computation load of MPC based on a Lyapunov function. Second, by designing a robust terminal region and proper parameters, recursive feasibility of the optimization problem is guaranteed and stability of the the closed-loop system is ensured. Simulation results show the effectiveness of proposed algorithm.
AB - In this paper, a self-triggered model predictive controller (MPC) strategy for nonholonomic vehicle with coupled input constraint and bounded disturbances is presented. First, a self-triggered mechanism is designed to reduce the computation load of MPC based on a Lyapunov function. Second, by designing a robust terminal region and proper parameters, recursive feasibility of the optimization problem is guaranteed and stability of the the closed-loop system is ensured. Simulation results show the effectiveness of proposed algorithm.
UR - http://www.scopus.com/inward/record.url?scp=85066494007&partnerID=8YFLogxK
U2 - 10.1016/j.jfranklin.2019.03.015
DO - 10.1016/j.jfranklin.2019.03.015
M3 - Article
AN - SCOPUS:85066494007
SN - 0016-0032
VL - 356
SP - 5593
EP - 5610
JO - Journal of the Franklin Institute
JF - Journal of the Franklin Institute
IS - 11
ER -