Research Article
Design of a Model Predictive Trajectory Tracking Controller for Mobile Robot Based on the Event-Triggering Mechanism
Table 1
Performance comparison of different design parameters for the proposed method.
| | Prediction horizon (Np) | Control horizon (Nc) | State-weighting matrix (Q) | Control-weighting matrix (R) | Max. steady-state error | | | |
| | 5 | 5 | | | 0.033 | 0.054 | 0.011 | | 5 | 5 | | | 0.028 | 0.038 | 0.013 | | 8 | 8 | | | 0.042 | 0.053 | 0.037 |
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