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...
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| Vydáno v: | International journal of robust and nonlinear control Ročník 33; číslo 11; s. 6171 - 6187 |
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| Hlavní autoři: | , , , |
| Médium: | Journal Article |
| Jazyk: | angličtina |
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Bognor Regis
Wiley Subscription Services, Inc
25.07.2023
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| ISSN: | 1049-8923, 1099-1239 |
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| Abstract | 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. |
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| AbstractList | 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. |
| Author | Li, Hongbo Yang, Hongjiu Wang, Zhengyu Zhao, Hai |
| Author_xml | – sequence: 1 givenname: Hai surname: Zhao fullname: Zhao, Hai organization: Tianjin University – sequence: 2 givenname: Hongjiu orcidid: 0000-0001-8103-8411 surname: Yang fullname: Yang, Hongjiu email: yanghongjiu@tju.edu.cn organization: Tianjin University – sequence: 3 givenname: Zhengyu surname: Wang fullname: Wang, Zhengyu organization: Tianjin University – sequence: 4 givenname: Hongbo surname: Li fullname: Li, Hongbo organization: Geekplus Technology Co., Ltd |
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| Cites_doi | 10.1002/rnc.5734 10.1002/acs.2986 10.1007/s10846-017-0467-z 10.1016/j.automatica.2017.12.048 10.1016/j.automatica.2010.02.021 10.1016/j.jfranklin.2016.12.021 10.1109/TASE.2020.3012879 10.1016/j.isatra.2021.01.016 10.1109/TAC.2015.2484332 10.1109/TCYB.2021.3125333 10.1109/TCST.2021.3069831 10.1007/978-3-540-88063-9_21 10.1109/ICUAS51884.2021.9476877 10.1109/LARS/SBR/WRE54079.2021.9605408 10.1109/TITS.2016.2604240 10.1109/TAC.2018.2800789 10.1109/TAC.2011.2178629 10.1109/ICUAS51884.2021.9476828 10.1002/rnc.4967 10.1109/TIE.2017.2740845 10.1109/TMECH.2021.3063886 10.1109/TCST.2017.2654063 10.1109/TIV.2020.3045837 10.1002/rnc.5551 10.1016/j.automatica.2020.109337 10.1109/TMECH.2017.2758603 10.1007/s00034-016-0306-7 10.1109/TCST.2016.2569468 10.1109/TVT.2019.2950288 10.1109/TIE.2019.2898599 10.1109/TAC.2016.2613909 10.1109/TCST.2015.2440999 10.1109/TAC.2014.2304175 10.1002/rnc.3555 |
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| SubjectTerms | Cost function Dwell time Liapunov functions MPC multiple Lyapunov functions nonholonomic systems Obstacle avoidance Potential fields Predictive control Recursive functions Stability switched mechanism Tracking Trajectories trajectory tracking |
| Title | Nonlinear switched model predictive control with multiple Lyapunov functions for trajectory tracking and obstacle avoidance of nonholonomic systems |
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