Stabilizing Model Predictive Control for Wheeled Mobile Robots with Linear Parameter-Varying and Different Time-Scales

Abstract

This paper presents an infinite horizon model predictive control (MPC) scheme for wheeled mobile robots with different time-scales and constrained linear parameter-varying (LPV). To this end, it is assumed that the time-varying parameter can be measured online and used for feedback. The proposed method is based on a parameter-dependent control law, which is obtained via the repeated solution of a convex optimization problem involving linear matrix inequalities. The closed-loop stability is guaranteed by the feasibility of the LMIs at initial time of a given trajectory tracking problem for WMRs. The MPC controller proposed is compared by means simulation tests with existing algorithms that use static linear control laws and more restrictive LMI conditions. In results can be noted that the proposed scheme reduces conservatism and improves performance.