Switched Model Predictive Control for Nonholonomic Mobile Robots Under Adaptive Dwell Time
Qing Li, Hongjiu Yang, Yuanqing Xia, Hai Feng Zhao
Abstract
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.
Topics & Concepts
Dwell timeNonholonomic systemModel predictive controlControl theory (sociology)Mobile robotComputer scienceStability (learning theory)Terminal (telecommunication)RobotDual (grammatical number)Set (abstract data type)Control engineeringControl (management)EngineeringArtificial intelligenceTelecommunicationsMachine learningArtProgramming languageClinical psychologyMedicineLiteratureAdvanced Control Systems OptimizationAdaptive Control of Nonlinear SystemsControl and Dynamics of Mobile Robots