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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."

Keyword : Global tracking, model predictive control, nonholonomic wheeled robots.

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