Receding horizon tracking control of unicycle-type robots based on virtual structure

DOI10.1002/RNC.3555MaRDI QIDQ5298484zbMATH OpenOpenAlexFDO

Authors Zhongqi Sun, Yuanqing Xia

Publication date 15 December 2016

Published in International Journal of Robust and Nonlinear Control (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1002/rnc.3555

zbMATH Keywords

coupled input constraintreceding horizon control (RHC)trackingunicycle robotvirtual structure

Mathematics Subject Classification ID

Nonlinear systems in control theory (93C10) Control/observation systems governed by ordinary differential equations (93C15) Automated systems (robots, etc.) in control theory (93C85)

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Cites work

• A quasi-infinite horizon nonlinear model predictive control scheme with guaranteed stability
• Constrained model predictive control: Stability and optimality
• Decentralized control of vehicle formations
• Decentralized finite-time sliding mode estimators and their applications in decentralized finite-time formation tracking
• Distributed consensus in multi-vehicle cooperative control. Theory and applications.
• Distributed RHC for Tracking and Formation of Nonholonomic Multi-Vehicle Systems
• Finite-time consensus and collision avoidance control algorithms for multiple AUVs
• Finite-time formation control of multiple nonholonomic mobile robots
• Information Flow and Cooperative Control of Vehicle Formations
• Leader-follower formation control of nonholonomic mobile robots with input constraints
• Multi-vehicle consensus with a time-varying reference state
• Necessary and sufficient graphical conditions for formation control of unicycles
• On the cluster consensus of discrete-time multi-agent systems
• On the implementation of an interior-point filter line-search algorithm for large-scale nonlinear programming
• On the Rendezvous Problem for Multiple Nonholonomic Agents
• Pursuit formations of unicycles

Cited in

(14)

• Robust MPC for tracking constrained unicycle robots with additive disturbances
• Motion coordination for a class of multi-agents via networked predictive control
• High precision tracking control for a sequence of way-points using dynamic unicycles
• Self-triggered MPC for trajectory tracking of unicycle-type robots with external disturbance
• A mixed gH₂/H approach for stabilization and accurate trajectory tracking of unicycle-like vehicles
• Robust RHC for wheeled vehicles with bounded disturbances
• Trajectory tracking of nonholonomic mobile robots by geometric control on special Euclidean group
• Event‐triggered model predictive control for multi‐vehicle systems with collision avoidance and obstacle avoidance
• Dual‐mode robust model predictive control for the tracking control of nonholonomic mobile robot
• Nonlinear switched model predictive control with multiple Lyapunov functions for trajectory tracking and obstacle avoidance of nonholonomic systems
• Formation control of unmanned aerial vehicle swarms: a comprehensive review
• Online learning-based event-triggered model predictive control with shrinking prediction horizon for perturbed nonlinear systems
• Formation tracking control for unmanned vehicles using enhanced sequential convex programming-based model predictive control
• Trajectory tracking of leader-follower formations characterized by constant line-of-sight angles

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Uses Software

• ICLOCS

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