Self-triggered MPC for trajectory tracking of unicycle-type robots with external disturbance

Qun Cao, Zhongqi Sun, Yuanqing Xia*, Li Dai

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

28 Citations (Scopus)

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 languageEnglish
Pages (from-to)5593-5610
Number of pages18
JournalJournal of the Franklin Institute
Volume356
Issue number11
DOIs
Publication statusPublished - Jul 2019

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