|Lyapunov-based Model Predictive Control for Tracking of Nonholonomic Mobile Robots under Input Constraints
Changxin Liu, Jian Gao*, and Demin Xu
International Journal of Control, Automation, and Systems, vol. 15, no. 5, pp.2313-2319, 2017
Abstract : "This paper studies the tracking problem of nonholonomic wheeled robots subject to control input constraints.
In order to take optimality considerations into account while designing saturated tracking controllers, a
Lyapunov-based predictive tracking controller is developed, in which the contractive constraint is characterized by
a backup global saturated tracking controller. Theoretical results on ensuring global feasibility and closed-loop stability
of the controller are provided. In addition, the proposed methodology admits suboptimal solutions. Finally,
numerical simulations are performed to verify the effectiveness of the proposed control strategy."
Global tracking, model predictive control, nonholonomic wheeled robots.