eprintid: 4017
rev_number: 11
eprint_status: archive
userid: 87
dir: disk0/00/00/40/17
datestamp: 2018-03-12 11:01:45
lastmod: 2018-03-12 11:01:45
status_changed: 2018-03-12 11:01:45
type: article
metadata_visibility: show
creators_name: Worthmann, Karl
creators_name: Mehrez, Mohamed W.
creators_name: Zanon, Mario
creators_name: Mann, George K.I.
creators_name: Gosine, Raymond G.
creators_name: Diehl, Moritz
creators_id: 
creators_id: 
creators_id: mario.zanon@imtlucca.it
creators_id: 
creators_id: 
creators_id: 
title: Regulation of Differential Drive Robots using Continuous Time MPC without Stabilizing Constraints or Costs
ispublished: pub
subjects: T1
divisions: CSA
full_text_status: restricted
pres_type: paper
keywords: nonholonomic mobile robots; model predictive control; regulation; nonlinear control
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.
date: 2015
date_type: published
publication: IFAC-PapersOnLine
volume: 48
number: 23
publisher: Elsevier
pagerange: 129-135
event_title: IFAC World Congress
event_type: conference
id_number: doi:10.1016/j.ifacol.2015.11.272
refereed: TRUE
issn: 2405-8963
official_url: http://doi.org/10.1016/j.ifacol.2015.11.272
citation:   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)  
document_url: http://eprints.imtlucca.it/4017/1/1-s2.0-S2405896315025562-main.pdf