Finite Horizon Robust Nonlinear Model Predictive Control for Wheeled Mobile Robots

摘要

The control of mobile robotic systems with input constraints is still a remarkable problem for many applications. This paper studies the model predictive control-based kinematic control scheme after implementing the decoupling technique of wheeled mobile robots (WMRs). This method enables us to obtain the easier optimization problem with fixed initial state. The finite horizon in cost function of model predictive control (MPC) algorithm requires the appropriate terminal controller as well as the equivalent terminal region. The stability of MPC is determined by feasible control sequence. Finally, offline simulation results validate that the computation load is significantly reduced and also validate trajectory tracking control effectiveness of our proposed control scheme.