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

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)

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Cites work

• A state-feedback approach to event-based control
• Consensus and Cooperation in Networked Multi-Agent Systems
• Decentralized receding horizon control for large scale dynamically decoupled systems
• 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
• Finite-time formation control for multi-agent systems
• Leader-follower formation control of nonholonomic mobile robots with input constraints
• Necessary and sufficient graphical conditions for formation control of unicycles
• Pursuit formations of unicycles
• Receding horizon tracking control of unicycle-type robots based on virtual structure
• Robust receding horizon control of constrained nonlinear systems
• Self-triggered linear quadratic control
• Sporadic event-based control of first-order linear stochastic systems

Cited in

(12)

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

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