Abstract
In this article, switched model predictive control (MPC) is proposed for nonholonomic mobile robots with adaptive dwell time and a dual-terminal set. The dual-terminal set is used to reduce on-line complexity of the switched MPC for the nonholonomic mobile robots with multiple constraints. By a switched signal with the adaptive dwell time, cost functions are switched to improve control performance under multiple constraints. The switched MPC with feasibility and stability can adjust a tradeoff between control performance and computational complexity for the closed-loop system. Simulation results are given to illustrate superiority of the switched MPC for nonholonomic mobile robots.
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