Self-triggered model predictive control for nonholonomic systems
2013 (English)In: 2013 European Control Conference, ECC 2013, 2013, 638-643 p.Conference paper (Refereed)
This paper proposes a Model Predictive Control (MPC) framework combined with a self-triggering mechanism for constrained uncertain systems. Under the proposed scheme, the control input as well as the next control update time are provided at each triggering instant. Between two consecutive triggering instants, the control trajectory given by the MPC is applied to the plant in an open-loop fashion. This results to less frequent computations while preserving stability and convergence of the closed-loop system. A scenario for the stabilization of a nonholonomic robot subject to constraints and disturbances is considered, with the aim of reaching a specific triggering mechanism. The robot under the proposed control framework is driven to a compact set where it is ultimately bounded. The efficiency of the proposed approach is illustrated through a simulated example.
Place, publisher, year, edition, pages
2013. 638-643 p.
Constrained uncertain systems, Control framework, Control trajectory, Non-holonomic robot, Nonholonomic systems, Stability and convergence, Triggering mechanism, Ultimately bounded
Engineering and Technology
IdentifiersURN: urn:nbn:se:kth:diva-143836ScopusID: 2-s2.0-84893333783ISBN: 978-303303962-9OAI: oai:DiVA.org:kth-143836DiVA: diva2:712497
2013 12th European Control Conference, ECC 2013; Zurich; Switzerland; 17 July 2013 through 19 July 2013
QC 201404152014-04-152014-03-312014-04-15Bibliographically approved