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Robust MPC for tracking constrained unicycle robots with additive disturbances - ScienceDirect
Source: sciencedirect.com
Article summary:
1. Two robust model predictive control (MPC) schemes are proposed for tracking unicycle robots with input constraint and bounded disturbances: tube-MPC and nominal robust MPC (NRMPC).
2. Tube-MPC renders the actual trajectory within a tube centered along the optimal trajectory of the nominal system, while NRMPC obtains an optimal control sequence by solving an optimization problem based on the current state.
3. Simulation results demonstrate the effectiveness of both strategies proposed.
Article analysis:
The article is generally reliable and trustworthy, as it provides a detailed description of two robust model predictive control (MPC) schemes for tracking unicycle robots with input constraint and bounded disturbances. The article is well-structured and clearly explains the concepts behind each scheme, as well as providing simulation results to demonstrate their effectiveness.
However, there are some potential biases in the article that should be noted. Firstly, there is a lack of discussion on possible risks associated with using these MPC schemes, such as safety issues or potential failure modes. Secondly, there is no mention of any counterarguments or alternative approaches to solving this problem that could be explored further. Finally, there is a lack of evidence provided to support some of the claims made in the article, such as recursive feasibility and input-to-state stability being established for both schemes.