Predictive path following of mobile robots without terminal stabilizing constraints

Publikationstyp
Conference Paper
Date Issued
2017
Sprache
English
Author(s)
Mehrez, Mohamed W.  
Worthmann, Karl  
Mann, George K. I.
Gosine, Raymond G.
Faulwasser, Timm  
TORE-URI
https://hdl.handle.net/11420/46245
Journal
IFAC-PapersOnLine  
Volume
50
Issue
1
Start Page
9852
End Page
9857
Citation
IFAC-PapersOnLine 50 (1): 9852-9857 (2017)
Contribution to Conference
20th IFAC World Congress 2017  
Publisher DOI
10.1016/j.ifacol.2017.08.907
Scopus ID
2-s2.0-85031822833
Publisher
Elsevier
This paper considers model predictive path-following control for differentially driven mobile robots and state-space paths. In contrast to previous works, we analyze stability of model predictive path-following control without stabilizing terminal constraints or terminal costs. To this end, we verify cost controllability assumptions and compute bounds on the stabilizing horizon length. Finally, we draw upon simulations to verify our stability results.
Subjects
mobile robots
nonlinear model predictive control
path following
stability
DDC Class
004: Computer Sciences