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It proposes an event\u2010triggered model predictive control (EMPC) framework and introduces an adaptive exponential reach law sliding mode observer (AERL\u2010SMO) for online disturbance estimation. The AERL\u2010SMO suppresses the chattering inherent to classical sliding\u2010mode observers by using tanh\u2010based smoothing and a boundary\u2010layer saturation function, and it accelerates convergence for large errors through an adaptive exponential gain. The EMPC employs an event\u2010triggered strategy: the MPC is re\u2010solved only when the error energy exceeds a threshold, which significantly reduces the number of online QP solves. Simulation validation demonstrates that under identical constraints and disturbance conditions, the proposed method reduces MPC solution iterations from 1257 to 579 (a 53.85% decrease) while substantially lowering the mean absolute error (MAE) and disturbance estimation error. The article also presents stability analysis (based on Lyapunov) and parameter sensitivity discussions for the algorithm. This method is suitable for omnidirectional mobile robot platforms with limited computational resources that require resistance to wheel slippage and complex disturbances.<\/jats:p>","DOI":"10.1002\/cpe.70424","type":"journal-article","created":{"date-parts":[[2025,11,10]],"date-time":"2025-11-10T06:12:03Z","timestamp":1762755123000},"update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":0,"title":["Event\u2010Driven Model Predictive Control With Sliding Mode Observer for Omnidirectional Demolition Robots"],"prefix":"10.1002","volume":"37","author":[{"given":"Xiaowu","family":"Huang","sequence":"first","affiliation":[{"name":"State Key Laboratory of Precision Blasting Jianghan University  Wuhan China"},{"name":"Hubei Key Laboratory of Blasting Engineering Jianghan University  Wuhan China"}]},{"given":"Jiangtao","family":"Fu","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Precision Blasting Jianghan University  Wuhan China"},{"name":"Hubei Key Laboratory of Blasting Engineering Jianghan University  Wuhan China"}]},{"given":"Juntong","family":"Yun","sequence":"additional","affiliation":[{"name":"Key Laboratory of Metallurgical Equipment and Control Technology of Ministry of Education Wuhan University of Science and Technology  Wuhan China"},{"name":"Hubei Provincial Key Laboratory of Metallurgical Industrial Process System Science Wuhan University of Science and Technology  Wuhan China"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-3669-1942","authenticated-orcid":false,"given":"Li","family":"He","sequence":"additional","affiliation":[{"name":"Hubei Key Laboratory of Mechanical Transmission and Manufacturing Engineering Wuhan University of Science and Technology  Wuhan China"}]},{"given":"Changrong","family":"Zhang","sequence":"additional","affiliation":[{"name":"Key Laboratory of Metallurgical Equipment and Control Technology of Ministry of Education Wuhan University of Science and Technology  Wuhan China"}]}],"member":"311","published-online":{"date-parts":[[2025,11,9]]},"reference":[{"key":"e_1_2_8_2_1","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2023.3284228"},{"key":"e_1_2_8_3_1","doi-asserted-by":"publisher","DOI":"10.1007\/s10489-022-03888-4"},{"key":"e_1_2_8_4_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.measurement.2019.03.010"},{"key":"e_1_2_8_5_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.jfranklin.2018.12.009"},{"key":"e_1_2_8_6_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.ymssp.2023.110755"},{"key":"e_1_2_8_7_1","doi-asserted-by":"publisher","DOI":"10.1177\/0142331221989003"},{"key":"e_1_2_8_8_1","doi-asserted-by":"publisher","DOI":"10.1177\/01423312211063688"},{"key":"e_1_2_8_9_1","doi-asserted-by":"publisher","DOI":"10.1109\/TCST.2007.903062"},{"key":"e_1_2_8_10_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechmachtheory.2022.104903"},{"key":"e_1_2_8_11_1","doi-asserted-by":"publisher","DOI":"10.1109\/TII.2018.2874182"},{"key":"e_1_2_8_12_1","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2017.2758603"},{"key":"e_1_2_8_13_1","doi-asserted-by":"publisher","DOI":"10.1109\/TSMC.2015.2465352"},{"key":"e_1_2_8_14_1","doi-asserted-by":"publisher","DOI":"10.1007\/s10846-019-01083-1"},{"key":"e_1_2_8_15_1","doi-asserted-by":"publisher","DOI":"10.1109\/TIE.2012.2206359"},{"key":"e_1_2_8_16_1","doi-asserted-by":"publisher","DOI":"10.1007\/s11432-020-3043-y"},{"key":"e_1_2_8_17_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.automatica.2019.108677"},{"key":"e_1_2_8_18_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.simpat.2012.03.001"},{"key":"e_1_2_8_19_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.isatra.2018.11.039"},{"issue":"9","key":"e_1_2_8_20_1","first-page":"4069","article-title":"A High\u2010Speed Sliding\u2010Mode Observer for the Sensorless Speed Control of a PMSM","volume":"58","author":"Kim H.","year":"2010","journal-title":"IEEE Transactions on Industrial Electronics"},{"key":"e_1_2_8_21_1","doi-asserted-by":"publisher","DOI":"10.1109\/TSMC.2018.2855444"},{"key":"e_1_2_8_22_1","doi-asserted-by":"publisher","DOI":"10.1109\/TCYB.2017.2695499"},{"issue":"3","key":"e_1_2_8_23_1","first-page":"442","article-title":"An Adaptive Event\u2010Triggered Synchronization Approach for Chaotic Lur'e Systems Subject to Aperiodic Sampled Data","volume":"66","author":"Wang Y.","year":"2019","journal-title":"IEEE Transactions on Circuits and Systems II: Express Briefs"},{"issue":"4","key":"e_1_2_8_24_1","first-page":"515","article-title":"Design of Robust Model Predictive Controller Based on Event Trigger Strategies","volume":"41","author":"Ling L.","year":"2015","journal-title":"Journal of East China University of Science and Technology"},{"key":"e_1_2_8_25_1","doi-asserted-by":"publisher","DOI":"10.3166\/ejc.16.144-155"},{"key":"e_1_2_8_26_1","unstructured":"A. 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