%0 Journal Article
%@ 2405-8963
%A Worthmann, Karl
%A Mehrez, Mohamed W.
%A Zanon, Mario
%A Mann, George K.I.
%A Gosine, Raymond G.
%A Diehl, Moritz
%D 2015
%F eprints:4017
%I Elsevier
%J IFAC-PapersOnLine
%K nonholonomic mobile robots; model predictive control; regulation; nonlinear control
%N 23
%P 129-135
%T Regulation of Differential Drive Robots using Continuous Time MPC without Stabilizing Constraints or Costs
%U http://eprints.imtlucca.it/4017/
%V 48
%X 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.