文章基本信息

标题：Predictive Path Following of Mobile Robots without Terminal Stabilizing Constraints
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作者：Mohamed W. Mehrez ; Karl Worthmann ; George K.I. Mann 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2017
卷号：50
期号：1
页码：9852-9857
DOI：10.1016/j.ifacol.2017.08.907
语种：English
出版社：Elsevier
摘要：AbstractThis paper considers model predictive path-following control for differentially driven mobile robots and state-space paths. In contrast to previous works, we analyze stability of model predictive path-following control without stabilizing terminal constraints or terminal costs. To this end, we verify cost controllability assumptions and compute bounds on the stabilizing horizon length. Finally, we draw upon simulations to verify our stability results.
关键词：Keywordsnonlinear model predictive controlmobile robotspath followingstability