Advanced model predictive control framework for autonomous intelligent mechatronic systems: A tutorial overview and perspectives

This paper presents a review on the development and application of model predictive control (MPC) for autonomous intelligent mechatronic systems (AIMS). Starting from the conceptual analysis of “mechatronics”, we analyze the characteristics and control system design requirements of AIMS. In order to fulfill the design requirements, we propose to develop a unified MPC framework for AIMS. The main MPC schemes, covering MPC basics, robust MPC, distributed MPC, Lyapunov-based MPC, event-based MPC, network-based MPC, switched MPC, fast MPC, are reviewed with an attempt to document some of the key achievements in the past decades. Furthermore, we provide the review and analysis of MPC applications to three types of mechatronic systems, including unmanned aerial vehicles (UAVs), autonomous marine vehicles (AMVs), and autonomous ground robots (AGRs). Some promising research directions and concluding remarks are presented.