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

摘要

In this paper, a self-triggered model predictive controller (MPC) strategy for nonholonomic vehicle with coupled input constraint and bounded disturbances is presented. First, a self-triggered mechanism is designed to reduce the computation load of MPC based on a Lyapunov function. Second, by designing a robust terminal region and proper parameters, recursive feasibility of the optimization problem is guaranteed and stability of the the closed-loop system is ensured. Simulation results show the effectiveness of proposed algorithm. (C) 2019 The Franklin Institute. Published by Elsevier Ltd. All rights reserved.