文章基本信息

标题：Regulation of Differential Drive Robots using Continuous Time MPC without Stabilizing Constraints or Costs *
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作者：Karl Worthmann ; Mohamed W. Mehrez ; Mario Zanon 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2015
卷号：48
期号：23
页码：129-135
DOI：10.1016/j.ifacol.2015.11.272
语种：English
出版社：Elsevier
摘要：AbstractIn 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.
关键词：Keywordsnonholonomic mobile robotsmodel predictive controlregulationnonlinear control