%T Regulation of Differential Drive Robots using Continuous Time MPC without Stabilizing Constraints or Costs
%J IFAC-PapersOnLine
%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.
%I Elsevier
%P 129-135
%K nonholonomic mobile robots; model predictive control; regulation; nonlinear control
%R doi:10.1016/j.ifacol.2015.11.272
%A Karl Worthmann
%A Mohamed W. Mehrez
%A Mario Zanon
%A George K.I. Mann
%A Raymond G. Gosine
%A Moritz Diehl
%L eprints4017
%D 2015
%V 48
%N 23