Robust MPC for tracking constrained unicycle robots with additive disturbances

DOI10.1016/j.automatica.2017.12.048zbMath1387.93115arXiv1703.03101OpenAlexW2792751328MaRDI QIDQ1640740

Kun Liu, Zhongqi Sun, Karl Henrik Johansson, Yuanqing Xia, Li Dai

Publication date: 14 June 2018

Published in: Automatica (Search for Journal in Brave)

Full work available at URL: https://arxiv.org/abs/1703.03101

zbMATH Keywords

robust controlmodel predictive control (MPC)bounded disturbancesunicycle robots

Mathematics Subject Classification ID

Related Items (17)

Event-triggered robust distributed nonlinear model predictive control using contraction theory ⋮ Nonlinear MPC with time-varying terminal cost for tracking unreachable periodic references ⋮ Unconstrained tracking MPC for continuous-time nonlinear systems ⋮ Finite‐time tracking for state‐constrained strict‐feedback systems without feasibility conditions ⋮ Robust adaptive model predictive control for guaranteed fast and accurate stabilization in the presence of model errors ⋮ Event‐triggered model predictive control for multi‐vehicle systems with collision avoidance and obstacle avoidance ⋮ A robust distributed receding horizon control synthesis approach for simultaneous tracking, regulation and formation of multiple perturbed wheeled vehicles with collision avoidance ⋮ Dual‐mode robust model predictive control for the tracking control of nonholonomic mobile robot ⋮ Model predictive tracking control with disturbance compensation for wheeled mobile robots in an environment with obstacles ⋮ Constrained control for systems on matrix Lie groups with uncertainties ⋮ Nonlinear switched model predictive control with multiple Lyapunov functions for trajectory tracking and obstacle avoidance of nonholonomic systems ⋮ Switching <scp>tube model predictive based</scp> controller design for <scp>multi‐agent unmanned aerial vehicle</scp> system with hybrid topology ⋮ Finite-time tracking control for nonstrict-feedback state-delayed nonlinear systems with full-state constraints and unmodeled dynamics ⋮ Robust RHC for wheeled vehicles with bounded disturbances ⋮ Self-triggered MPC for nonholonomic systems with multiple constraints by adaptive transmission intervals ⋮ Distributed robust MPC for nonholonomic robots with obstacle and collision avoidance ⋮ A hierarchical control scheme for multiple aerial vehicle transportation systems with uncertainties and state/input constraints

Uses Software

• Ipopt

Cites Work

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