@article{eprints4017,
           title = {Regulation of Differential Drive Robots using Continuous Time MPC without Stabilizing Constraints or Costs},
          volume = {48},
           pages = {129--135},
       publisher = {Elsevier},
          author = {Karl Worthmann and Mohamed W. Mehrez and Mario Zanon and George K.I. Mann and Raymond G. Gosine and Moritz Diehl},
       booktitle = {IFAC World Congress},
          number = {23},
         journal = {IFAC-PapersOnLine},
            year = {2015},
        abstract = {In this paper, model predictive control (MPC) of differential drive robots is considered. Here, we solve the set point stabilization problem without incorporating stabilizing constraints and/or costs in the MPC scheme. In particular, we extend recent results obtained in a discrete time setting to the continuous time domain. To this end, so called swaps and replacements are introduced in order to validate a growth condition on the value function and, thus, to rigorously prove asymptotic stability of the MPC closed loop for nonholonomic robots.},
             url = {http://eprints.imtlucca.it/4017/},
        keywords = {nonholonomic mobile robots; model predictive control; regulation; nonlinear control}
}