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

DOI10.1016/J.JFRANKLIN.2019.03.015zbMATH Open1415.93176OpenAlexW2947612257WikidataQ127820311 ScholiaQ127820311MaRDI QIDQ2423972FDOQ2423972

Authors: Qun Cao, Zhongqi Sun, Yuanqing Xia, Li Dai 

Publication date: 21 June 2019

Published in: Journal of the Franklin Institute (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1016/j.jfranklin.2019.03.015

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zbMATH Keywords

trajectory trackingnonholonomic robotself-triggered model predictive controller

Mathematics Subject Classification ID

Automated systems (robots, etc.) in control theory (93C85) Lyapunov and other classical stabilities (Lagrange, Poisson, (L^p, l^p), etc.) in control theory (93D05)

Cites Work

• Finite-time formation control for multi-agent systems
• Consensus and Cooperation in Networked Multi-Agent Systems
• Leader-follower formation control of nonholonomic mobile robots with input constraints
• Pursuit formations of unicycles
• Robust receding horizon control of constrained nonlinear systems
• Necessary and sufficient graphical conditions for formation control of unicycles
• Decentralized receding horizon control for large scale dynamically decoupled systems
• A state-feedback approach to event-based control
• Self-triggered linear quadratic control
• Sporadic event-based control of first-order linear stochastic systems
• Receding horizon tracking control of unicycle-type robots based on virtual structure
• Distributed MPC for formation of multi-agent systems with collision avoidance and obstacle avoidance
• Event-Based Model Predictive Tracking Control of Nonholonomic Systems With Coupled Input Constraint and Bounded Disturbances

Cited In (8)

• The composite-disturbance-observer based stochastic model predictive control for spacecrafts under multi-source disturbances
• Additive-state-decomposition-based model predictive tracking control for PMSM servo system with multiple disturbances
• Event-based model predictive control with two-phase predictive detection
• Correntropy based model predictive controller with multi-constraints for robust path trajectory tracking of self-driving vehicle
• A mixed gH₂/H approach for stabilization and accurate trajectory tracking of unicycle-like vehicles
• Safety-triggered stochastic tracking control for a cushion robot by constraining velocity considering the estimated internal disturbance
• Self-triggered MPC for nonholonomic systems with multiple constraints by adaptive transmission intervals
• Robust interval predictive tracking control for constrained and perturbed unicycle mobile robots

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