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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Veröffentlicht in:	International journal of robust and nonlinear control Jg. 33; H. 11; S. 6171 - 6187
Hauptverfasser:	Zhao, Hai, Yang, Hongjiu, Wang, Zhengyu, Li, Hongbo
Format:	Journal Article
Sprache:	Englisch
Veröffentlicht:	Bognor Regis Wiley Subscription Services, Inc 25.07.2023
Schlagworte:	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
Online-Zugang:	Volltext
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