Model Predictive Control of Nonholonomic Mobile Robots Without Stabilizing Constraints and Costs

Worthmann, Karl and Mehrez, Mohamed W. and Zanon, Mario and Mann, George K. I. and Gosine, Raymond G. and Diehl, Moritz Model Predictive Control of Nonholonomic Mobile Robots Without Stabilizing Constraints and Costs. IEEE Transactions on Control Systems Technology, 24 (4). pp. 1394-1406. ISSN 1063-6536 (2016)

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Abstract

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.

Item Type:	Article
Identification Number:	10.1109/TCST.2015.2488589
Subjects:	T Technology > T Technology (General)
Research Area:	Computer Science and Applications
Depositing User:	Mario Zanon
Date Deposited:	12 Mar 2018 08:59
Last Modified:	12 Mar 2018 08:59
URI:	http://eprints.imtlucca.it/id/eprint/4012

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