Model predictive control for non-holonomic robots with disturbances: A quasi-differential type event-driven method

摘要

For non-holonomic wheeled mobile robots with coupled constraints and bounded disturbances, a novel event-driven model predictive control (EMPC) strategy is designed in this paper. Firstly, to alleviate the computational and data transmission burden of the system, an EMPC algorithm considering the quasi-differential information of continuous state discrepancies is proposed, rather than only considering the system state at a single moment. Secondly, to accelerate the convergence speed of the system state, an exponential robust constraint is introduced when designing the optimization problem. Furthermore, the parameter conditions that ensure the feasibility and system stability are theoretically provided. In the end, simulation and comparison are provided to demonstrate the effectiveness of this algorithm.