Trajectory Tracking Control of Nonholonomic Wheeled Mobile Robots Using Model Predictive Control Subjected to Lyapunov-based Input Constraints

摘要

This paper studies the trajectory tracking control for the nonholonomic wheeled mobile robot (WMR) based on model predictive control (MPC). Concerning overcome stable problem occurred from optimization control of MPC, we develop an MPC controller subjected to Lyapunov-based input constraints (LMPC) to solve the trajectory tracking problem for the nonholonomic WMR. The Lyapunov stable characteristic of the feedback linearization (FL) is utilized to ensure the stability of the control system. The recursive feasibility of input and stability of the control system based on LMPC is analyzed by the contraction constraint of FL. Besides, the paper also demonstrates the stability of the trajectory tracking control by the receding horizon optimized control solution embedded in LMPC. The simulation experiment results significantly verify the validity of the proposed LMPC approach in trajectory tracking.

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