Model Predictive Control of Nonholonomic Mobile Robots without Stabilizing Constraints and Costs
Artikel i vetenskaplig tidskrift, 2015

The problem of steering a nonholonomic mobile robot to a desired position and orientation is considered. In this paper, a model predictive control (MPC) scheme based on tailored nonquadratic stage cost is proposed to fulfill this control task. We rigorously prove asymptotic stability while neither stabilizing constraints nor costs are used. To this end, we first design suitable maneuvers to construct bounds on the value function. Second, these bounds are exploited to determine a prediction horizon length such that the asymptotic stability of the MPC closed loop is guaranteed. Finally, numerical simulations are conducted to explain the necessity of having nonquadratic running costs.

Trajectory

Asymptotic stability

Vehicles

Stability analysis

Predictive control

Mobile robots

Författare

Karl Worthmann

Mohamed W. Mehrez

Mario Zanon

Signaler och system, System- och reglerteknik, Mekatronik

George K.I. Mann

Raymond G. Gosine

Moritz Diehl

IEEE Transactions on Control Systems Technology

1063-6536 (ISSN)

Vol. 24 1394-1406

Styrkeområden

Transport

Ämneskategorier

Reglerteknik