Nonlinear switched model predictive control with multiple Lyapunov functions for trajectory tracking and obstacle avoidance of nonholonomic systems

In this paper, we investigate trajectory tracking and obstacle avoidance for a nonholonomic system subject to external disturbances by a nonlinear switched model predictive control (MPC) strategy. In the nonlinear switched MPC strategy, a potential field is introduced in a cost function to guarantee a smooth path for the nonholonomic system. A switched mechanism is designed to ensure switching stability by setting multiple Lyapunov functions in different areas. Different from traditional switched mechanisms, an average dwell time closely related to stability conditions is proposed to balance safety and stability in the whole process. Recursive feasibility is presented for the nonlinear switched MPC strategy in trajectory tracking and obstacle avoidance. Simulation results are provided to show effectiveness and superiority of the nonlinear switched MPC strategy by a two-wheeled mobile vehicle.