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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Bibliographic Details
Published inInternational journal of robust and nonlinear control Vol. 33; no. 11; pp. 6171 - 6187
Main Authors Zhao, Hai, Yang, Hongjiu, Wang, Zhengyu, Li, Hongbo
Format Journal Article
LanguageEnglish
Published Bognor Regis Wiley Subscription Services, Inc 25.07.2023
Subjects
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
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Summary: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