Switched Model Predictive Control for Nonholonomic Mobile Robots Under Adaptive Dwell Time

被引：13
作者：
Li, Qing [1 ]
Yang, Hongjiu [2 ]
Xia, Yuanqing [1 ]
Zhao, Hai [2 ]
机构：
[1] Beijing Inst Technol, Sch Automat, Beijing 100081, Peoples R China
[2] Tianjin Univ, Sch Elect & Informat Engn, Tianjin Key Lab Intelligent Unmanned Swarm Technol, Tianjin 300072, Peoples R China
来源：
IEEE TRANSACTIONS ON CYBERNETICS | 2024年 / 54卷 / 06期
基金：
中国国家自然科学基金;
关键词：
Adaptive dwell time; model predictive control (MPC); nonholonomic systems; switching control; NONLINEAR-SYSTEMS; MPC; STABILITY; TRACKING; INPUT;
D O I：
10.1109/TCYB.2023.3258667
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this article, switched model predictive control (MPC) is proposed for nonholonomic mobile robots with adaptive dwell time and a dual-terminal set. The dual-terminal set is used to reduce on-line complexity of the switched MPC for the nonholonomic mobile robots with multiple constraints. By a switched signal with the adaptive dwell time, cost functions are switched to improve control performance under multiple constraints. The switched MPC with feasibility and stability can adjust a tradeoff between control performance and computational complexity for the closed-loop system. Simulation results are given to illustrate superiority of the switched MPC for nonholonomic mobile robots.
引用
收藏
页码：3444 / 3453
页数：10
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