IDEAS home Printed from https://ideas.repec.org/a/hin/jnlmpe/5573467.html
   My bibliography  Save this article

Design of a Model Predictive Trajectory Tracking Controller for Mobile Robot Based on the Event-Triggering Mechanism

Author

Listed:
  • Ning He
  • Lipeng Qi
  • Ruoxia Li
  • Yuesheng Liu

Abstract

A novel model predictive control- (MPC-) based trajectory tracking controller for mobile robot is proposed using the event-triggering mechanism, and the aim is to solve the problem that the MPC optimization problem requires a large amount of online computation and communication resources. This method includes two different event-triggering strategies, namely, the event-triggering based on threshold curve and the event-triggering based on threshold band. The selection of the triggering threshold is achieved by applying the statistical method to the historical data of the trajectory tracking of the mobile robot under the classic MPC method. Simulation and experimental tests illustrate that the proposed approach is able to significantly reduce the computation and communication burdens without affecting the control performance. Furthermore, the experimental results show that compared with the classic MPC-based tracking method, the proposed two event-triggering strategies can reduce 28.1% and 75.7% of the computation load and 0.886 s and 2.385 s communication time.

Suggested Citation

  • Ning He & Lipeng Qi & Ruoxia Li & Yuesheng Liu, 2021. "Design of a Model Predictive Trajectory Tracking Controller for Mobile Robot Based on the Event-Triggering Mechanism," Mathematical Problems in Engineering, Hindawi, vol. 2021, pages 1-13, April.
    • Handle: RePEc:hin:jnlmpe:5573467
    DOI: 10.1155/2021/5573467
    as

    Download full text from publisher

    File URL: http://downloads.hindawi.com/journals/MPE/2021/5573467.pdf
    Download Restriction: no
    File URL: http://downloads.hindawi.com/journals/MPE/2021/5573467.xml
    Download Restriction: no
    File URL: https://libkey.io/10.1155/2021/5573467?utm_source=ideas
    LibKey link: if access is restricted and if your library uses this service, LibKey will redirect you to where you can use your library subscription to access this item
    ---><---

    More about this item

    Statistics

    Access and download statistics

    Corrections

    All material on this site has been provided by the respective publishers and authors. You can help correct errors and omissions. When requesting a correction, please mention this item's handle: RePEc:hin:jnlmpe:5573467. See general information about how to correct material in RePEc.

    If you have authored this item and are not yet registered with RePEc, we encourage you to do it here. This allows to link your profile to this item. It also allows you to accept potential citations to this item that we are uncertain about.

    We have no bibliographic references for this item. You can help adding them by using this form .

    If you know of missing items citing this one, you can help us creating those links by adding the relevant references in the same way as above, for each refering item. If you are a registered author of this item, you may also want to check the "citations" tab in your RePEc Author Service profile, as there may be some citations waiting for confirmation.

    For technical questions regarding this item, or to correct its authors, title, abstract, bibliographic or download information, contact: Mohamed Abdelhakeem (email available below). General contact details of provider: https://www.hindawi.com .

    Please note that corrections may take a couple of weeks to filter through the various RePEc services.

    IDEAS is a RePEc service. RePEc uses bibliographic data supplied by the respective publishers.