Abstract
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.
Original language | English |
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Pages (from-to) | 5593-5610 |
Number of pages | 18 |
Journal | Journal of the Franklin Institute |
Volume | 356 |
Issue number | 11 |
DOIs | |
Publication status | Published - Jul 2019 |
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Cao, Q., Sun, Z., Xia, Y., & Dai, L. (2019). Self-triggered MPC for trajectory tracking of unicycle-type robots with external disturbance. Journal of the Franklin Institute, 356(11), 5593-5610. https://doi.org/10.1016/j.jfranklin.2019.03.015