relation: http://eprints.imtlucca.it/4017/
title: Regulation of Differential Drive Robots using Continuous Time MPC without Stabilizing Constraints or Costs
creator: Worthmann, Karl
creator: Mehrez, Mohamed W.
creator: Zanon, Mario
creator: Mann, George K.I.
creator: Gosine, Raymond G.
creator: Diehl, Moritz
subject: T Technology (General)
description: 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.
publisher: Elsevier
date: 2015
type: Article
type: PeerReviewed
format: application/pdf
language: en
identifier: http://eprints.imtlucca.it/4017/1/1-s2.0-S2405896315025562-main.pdf
identifier:   Worthmann, Karl and Mehrez, Mohamed W. and Zanon, Mario and Mann, George K.I. and Gosine, Raymond G. and Diehl, Moritz  Regulation of Differential Drive Robots using Continuous Time MPC without Stabilizing Constraints or Costs.  IFAC-PapersOnLine, 48 (23).  pp. 129-135.  ISSN 2405-8963      (2015)  
relation: http://doi.org/10.1016/j.ifacol.2015.11.272
relation: doi:10.1016/j.ifacol.2015.11.272