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- Publisher
- Emerald Publishing
- Copyright
- © Emerald Publishing Limited
- ISSN
- 0144-5154
- eISSN
- 0144-5154
- DOI
- 10.1108/aa-02-2022-0022
- Publisher site
- See Article on Publisher Site
Abstract
This paper aims to design an algorithm which is used to deal with non-linear discrete systems with constraints under the lower computation burden. As a result, we solve the non-holonomic vehicle tracking problem with the lower computational load and the convergence performance.Design/methodology/approachA fusion event-triggered model predictive control version is developed in this paper. The authors designed a shrinking prediction strategy.FindingsThe fusion event-triggered model predictive control scheme combines the strong points of event triggered and self-triggered methods. As the practical state approaches the terminal set, the computational complexity of optimal control problem (OCP) decreases.Originality/valueThe proposed strategy has proven to stabilize the system and also guarantee a reproducible solution for the OCP. Also, it is proved to be effected by the performance of the simulation results.
Journal
Assembly Automation – Emerald Publishing
Published: Dec 6, 2022
Keywords: Fusion event-triggered; Model predictive control (MPC); Shrinking prediction horizon