TY - GEN
T1 - Self-triggered model predictive control for nonholonomic systems
AU - Eqtami, Alina
AU - Heshmati-Alamdari, Shahab
AU - Dimarogonas, Dimos V.
AU - Kyriakopoulos, Kostas J.
PY - 2013
Y1 - 2013
N2 - 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.
AB - 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.
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U2 - 10.23919/ecc.2013.6669628
DO - 10.23919/ecc.2013.6669628
M3 - Conference contribution
AN - SCOPUS:84893333783
SN - 9783033039629
T3 - 2013 European Control Conference, ECC 2013
SP - 638
EP - 643
BT - 2013 European Control Conference, ECC 2013
PB - IEEE Computer Society
T2 - 2013 12th European Control Conference, ECC 2013
Y2 - 17 July 2013 through 19 July 2013
ER -