Model Predictive Control of Nonholonomic Mobile Robots Without Stabilizing Constraints and Costs
Model Predictive Control of Nonholonomic Mobile Robots Without Stabilizing Constraints and Costs
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DOI：
10.1109/tcst.2015.2488589
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发表时间：
2016-07-01
影响因子：
4.8
通讯作者：
Diehl, Moritz
中科院分区：
文献类型：
--
作者：
Worthmann, Karl;Mehrez, Mohamed W.;Diehl, Moritz
考虑将非完整移动机器人转向所需位置和方向的问题。本文提出了一种基于定制非二次阶段成本的模型预测控制（MPC）方案来完成此控制任务。我们严格证明渐近稳定性，同时不使用稳定约束或成本。为此，我们首先设计合适的策略来构造价值函数的边界。其次，利用这些界限来确定预测范围长度，从而保证 MPC 闭环的渐近稳定性。最后，进行数值模拟来解释非二次运行成本的必要性。
The problem of steering a nonholonomic mobile robot to a desired position and orientation is considered. In this paper, a model predictive control (MPC) scheme based on tailored nonquadratic stage cost is proposed to fulfill this control task. We rigorously prove asymptotic stability while neither stabilizing constraints nor costs are used. To this end, we first design suitable maneuvers to construct bounds on the value function. Second, these bounds are exploited to determine a prediction horizon length such that the asymptotic stability of the MPC closed loop is guaranteed. Finally, numerical simulations are conducted to explain the necessity of having nonquadratic running costs.