Self-triggered Model Predictive Control for nonholonomic systems

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...

Ausführliche Beschreibung

Bibliographische Detailangaben

Hauptverfasser:	Eqtami, Alina, Heshmati-alamdari, Shahab, Dimarogonas, Dimos V., Kyriakopoulos, Kostas J.
Format:	Tagungsbericht
Sprache:	eng
Schlagworte:	Closed loop systems Constrained uncertain systems Control framework Control trajectory Convergence Non-holonomic robot Nonholonomic systems Robot kinematics Stability analysis Stability and convergence Trajectory Triggering mechanism Ultimately bounded
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