Design of a Model Predictive Trajectory Tracking Controller for Mobile Robot Based on the Event-Triggering Mechanism

Algorithm 1

Threshold curve/band-based event-triggered MPC approach.

	Input: Prediction horizon Np; triggering level σ; weighting matrices Q and R
initial state ; indices k = 0, i = 0.
1	Calculate by solving the problem in (14)
2	Apply control input
3	while the triggering condition is not satisfied do
4	Apply control input
5
6	end while
7	, i = 0
8	Calculate by solving the problem in (14)
9	return 3