Input-to-state stabilizing MPC for constrained nonlinear system with persistent disturbance

Shi, Donglin; Mao, Zhizhong

doi:10.1109/ccdc.2011.5968354

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Event‐triggered model predictive control for multi‐vehicle systems with collision avoidance and obstacle avoidance

Yang

Zuo

et al. 2021

Intl J Robust & Nonlinear

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In this article, event-triggered model predictive control is used for simultaneous tracking and formation of a multi-vehicle system with collision avoidance and obstacle avoidance. An event-triggered mechanism is established to reduce computational burden in the model predictive control strategy. A compatibility constraint is proposed to guarantee collision avoidance and convergence for the multi-vehicle system by limiting an uncertainty deviation of each vehicle.Between each vehicle and obstacles, a safe distance is ensured by a robust obstacle avoidance constraint. Finally, effectiveness and advantages of the proposed strategy are shown by two simulation examples.

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