Model predictive control based optimal crusing control of two-wheeled mobile robots

Abstract

This paper describes an optimal crusing control using model predictive control for a two-wheeled mobile robot with a nonholonomic constraint. The proposed method yields the optimized control strategy while satisfying constraints imposed on input and state. The dynamics is modeled as a mixed logical dynamical system so that the model predictive control can be applied to it. Some simulation and experimental results illustrate the effectiveness of the proposed method.