A quasi-differential type event-triggered MPC for non-holonomic robots with coupled constraints and bounded disturbances

A new event-triggered model predictive control (MPC) strategy is conceived in this paper for non-holonomic robot systems. This strategy is different from traditional event-triggered schemes that only consider the actual state and optimal prediction error at a single moment. When designing the proposed triggering condition, the so-called quasi-differential information of continuous state errors is considered to reduce the frequency of solving optimization problems and data transmission. Furthermore, an exponential robustness state constraint is considered in designing the optimal control problem to accelerate the convergence speed of mobile robots toward the desired path. Sufficient conditions are provided to guarantee stability of the non-holonomic system. Finally, a simulation comparison is used to verify the proposed strategy.