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
Hlavní autoři: Zhao, Hai, Yang, Hongjiu, Wang, Zhengyu, Li, Hongbo
Médium: Journal Article
Jazyk:angličtina
Vydáno: Bognor Regis Wiley Subscription Services, Inc 25.07.2023
Témata:
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
ISSN:1049-8923, 1099-1239
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Shrnutí: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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ISSN:1049-8923
1099-1239
DOI:10.1002/rnc.6690