{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,7,29]],"date-time":"2026-07-29T18:00:58Z","timestamp":1785348058716,"version":"3.55.0"},"reference-count":32,"publisher":"Public Library of Science (PLoS)","issue":"7","license":[{"start":{"date-parts":[[2026,7,29]],"date-time":"2026-07-29T00:00:00Z","timestamp":1785283200000},"content-version":"vor","delay-in-days":0,"URL":"http:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"Scientific research projects of universities in Anhui Province","award":["2024AH051993"],"award-info":[{"award-number":["2024AH051993"]}]},{"name":"Startup Fund for Distinguished Scholars of West Anhui University","award":["WGKQ2022050"],"award-info":[{"award-number":["WGKQ2022050"]}]},{"name":"Open Fund of Anhui Undergrowth Crop Intelligent Equipment Engineering Research Center","award":["AUCIEERC-2022-01"],"award-info":[{"award-number":["AUCIEERC-2022-01"]}]},{"name":"Anhui Undergrowth Crop Intelligent Equipment Engineering Research Center","award":["2022AH010091"],"award-info":[{"award-number":["2022AH010091"]}]}],"content-domain":{"domain":["www.plosone.org"],"crossmark-restriction":false},"short-container-title":["PLoS One"],"abstract":"<jats:p>Periodic model predictive control (MPC) for differential-drive mobile robots requires online optimization at every sampling instant, which can be redundant during near-steady tracking. This study develops an event-triggered hierarchical MPC\u2013PID framework, termed ET\u2013MPC\u2013PID, to reduce the outer-loop optimization burden while accounting for actuator-side execution effects. The outer MPC updates the velocity setpoint only when a normalized event condition is satisfied or the maximum holding interval is reached. A fixed-period PID-form velocity servo with conditional integration regulates the actuator channel under lag and saturation. The formulation distinguishes holding-induced decision discrepancy from actuator-side mismatch and provides a local practical boundedness characterization. Simulations on double lane-change and figure-eight trajectories compare periodic PID, periodic MPC, periodic MPC\u2013PID, an external variable-horizon ET\u2013MPC reference, and event-triggered ablations. ET\u2013MPC\u2013PID reduces the QP call rate to 16.9% and 22.3% of periodic MPC while outperforming the no-PID event-triggered variant. Sensitivity, Pareto, runtime, and 100-trial Monte Carlo analyses further demonstrate the accuracy\u2013computation trade-off and empirical robustness under sampled execution uncertainty.<\/jats:p>","DOI":"10.1371\/journal.pone.0354699","type":"journal-article","created":{"date-parts":[[2026,7,29]],"date-time":"2026-07-29T17:35:51Z","timestamp":1785346551000},"page":"e0354699","update-policy":"https:\/\/doi.org\/10.1371\/journal.pone.corrections_policy","source":"Crossref","is-referenced-by-count":0,"title":["Event-triggered MPC-PID based trajectory tracking control for differential drive mobile 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