TY  - JOUR
TI  - Regulation of Differential Drive Robots using Continuous Time MPC without Stabilizing Constraints or Costs
A1  - Worthmann, Karl
A1  - Mehrez, Mohamed W.
A1  - Zanon, Mario
A1  - Mann, George K.I.
A1  - Gosine, Raymond G.
A1  - Diehl, Moritz
N2  - 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.
UR  - http://doi.org/10.1016/j.ifacol.2015.11.272
IS  - 23
PB  - Elsevier
ID  - eprints4017
Y1  - 2015///
SN  - 2405-8963
AV  - restricted
VL  - 48
KW  - nonholonomic mobile robots; model predictive control; regulation; nonlinear control
JF  - IFAC-PapersOnLine
SP  - 129
EP  - 135
ER  -