Regulation of Differential Drive Robots using Continuous Time MPC without Stabilizing Constraints or Costs

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)

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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.

Item Type:	Article
Identification Number:	10.1016/j.ifacol.2015.11.272
Uncontrolled Keywords:	nonholonomic mobile robots; model predictive control; regulation; nonlinear control
Subjects:	T Technology > T Technology (General)
Research Area:	Computer Science and Applications
Depositing User:	Mario Zanon
Date Deposited:	12 Mar 2018 11:01
Last Modified:	12 Mar 2018 11:01
URI:	http://eprints.imtlucca.it/id/eprint/4017

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