Point stabilization of mobile robots with nonlinear model predictive control

Nonlinear model predictive control for wheeled mobile robot in dynamic environment

“…To model the motion of a nonholonomic wheeled mobile robot (WMR), a simple unicycle model (shown in Figure. 1) is considered in this paper [1], [5], [13], where it is assumed that the motion of mobile robot cannot slip laterally so that the translational velocity is in the direction of heading, i.e. a pure rolling contact between the wheels and the ground: cos sin xv yv…”

“…It is noted that the polar coordinate transformation can provide a smoother closed-loop trajectory and also can eliminate the steady-state error effectively [5].…”

“…Q and R are the weighting matrices which are used to weight the states and control efforts, respectively. According to above setting, the NMPC algorithm will solve the following optimal control problem OCFN : Note that kinematic model (5) is not defined at the singular point e( k)= o. Without loss generality, we can assign the origin as the reference set-point, and the corresponding error state can be written as X& = X -X r ef , i.e., the error between current state and the reference set point (or reference trajectory).…”

“…In this section, based on the Kuhun et al, [5] robot simulation conditions, we verify the effectiveness of NMPC algorithm on regulation problem. The control input constraints are chosen as follows: …”

Optimal formation control of two-wheeled vehicles using model predictive control

“…Several model predictive control based approaches for the auto-cruising control have been reported in [7], [8], [9], [10], [11], [12], [13], [14]. In [7], no case for a two-dimensional course has been demonstrated although the effectiveness of the method has been verified by simulations for a limited directional course.…”