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Sun, Zhongqi and Xia, Yuanqing and Dai, Li and Campoy Cervera, Pascual (2020). Tracking of Unicycle Robots Using Event-Based MPC With Adaptive Prediction Horizon. "IEEE/ASME Transactions on Mechatronics", v. 25 (n. 2); pp. 739-749. ISSN 1083-4435. https://doi.org/10.1109/TMECH.2019.2962099.
Title: | Tracking of Unicycle Robots Using Event-Based MPC With Adaptive Prediction Horizon |
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Author/s: |
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Item Type: | Article |
Título de Revista/Publicación: | IEEE/ASME Transactions on Mechatronics |
Date: | April 2020 |
ISSN: | 1083-4435 |
Volume: | 25 |
Subjects: | |
Freetext Keywords: | Adaptive prediction horizon; event-triggered control; model predictive control (MPC); self-triggered control; unicycle robots |
Faculty: | E.T.S.I. Industriales (UPM) |
Department: | Automática, Ingeniería Eléctrica y Electrónica e Informática Industrial |
Creative Commons Licenses: | Recognition - No derivative works - Non commercial |
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In this article, we propose two event-based model predictive control (MPC) schemes with adaptive prediction horizon for tracking of unicycle robots with additive disturbances. The schemes are able to reduce the computational burden from two aspects: reducing the frequency of solving the optimization control problem (OCP) to relieve the computational load and decreasing the prediction horizon to decline the computational complexity. Event-triggering and self-triggering mechanisms are developed to activate the OCP solver aperiodically, and a prediction horizon update strategy is presented to decrease the dimension of the OCP in each step. The proposed schemes are tested on a networked platform to show their efficiency.
Item ID: | 64117 |
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DC Identifier: | https://oa.upm.es/64117/ |
OAI Identifier: | oai:oa.upm.es:64117 |
DOI: | 10.1109/TMECH.2019.2962099 |
Official URL: | https://ieeexplore.ieee.org/document/8941320 |
Deposited by: | Memoria Investigacion |
Deposited on: | 28 Oct 2020 16:22 |
Last Modified: | 28 Oct 2020 16:22 |