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.
| Original language | English |
|---|---|
| Pages (from-to) | 1-10 |
| Number of pages | 10 |
| Journal | IEEE Transactions on Cybernetics |
| DOIs | |
| Publication status | Accepted/In press - 2023 |
Keywords
- Adaptive dwell time
- Computational complexity
- Control systems
- Mobile robots
- Optimal control
- Predictive control
- Switches
- Wheels
- model predictive control (MPC)
- nonholonomic systems
- switching control