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The Modular Design and Production of an Intelligent Robot Based on a Closed-Loop Control Strategy
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Switched Model Predictive Control for Nonholonomic Mobile Robots Under Adaptive Dwell Time.

Qing Li, Hongjiu Yang, Yuanqing Xia

    IEEE Transactions on Cybernetics
    |April 8, 2023
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    Summary
    This summary is machine-generated.

    This study introduces switched model predictive control (MPC) for nonholonomic mobile robots. The novel approach enhances control performance and reduces computational complexity under multiple constraints.

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    Area of Science:

    • Robotics
    • Control Systems
    • Artificial Intelligence

    Background:

    • Nonholonomic mobile robots present unique control challenges due to kinematic constraints.
    • Model Predictive Control (MPC) is effective but can be computationally intensive for complex systems.
    • Existing control methods struggle to balance performance and complexity under multiple constraints.

    Purpose of the Study:

    • To propose a novel switched model predictive control (MPC) strategy for nonholonomic mobile robots.
    • To reduce the on-line computational complexity of MPC for these robots.
    • To improve control performance while managing multiple system constraints.

    Main Methods:

    • Implementation of a switched MPC framework incorporating adaptive dwell time.
    • Utilization of a dual-terminal set to manage system constraints and reduce complexity.
    • Switching cost functions based on system behavior to optimize performance.
    • Ensuring closed-loop system feasibility and stability.

    Main Results:

    • The proposed switched MPC effectively reduces on-line computational complexity.
    • Adaptive dwell time and dual-terminal sets enhance control performance under multiple constraints.
    • The controller demonstrates a tunable tradeoff between performance and computational load.
    • Simulation results validate the superiority of the switched MPC approach.

    Conclusions:

    • The developed switched MPC is a viable and superior control strategy for nonholonomic mobile robots.
    • The method offers significant advantages in managing complex constraints and computational demands.
    • This approach provides a flexible and efficient solution for advanced mobile robot control.