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Tracking control and stabilization of wheeled mobile robots by nonlinear model predictive control

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3 Author(s)
M. -M. Ma ; School of Control and Computer Engineering, North China Electric Power University, No.2 Beinong Road, Huilongguan, Changping District, Beijing 102206, P.R. China ; S. Li ; X. -J. Liu

In this paper, a model predictive controller for time-varying nonlinear systems with input constraints is developed for tracking control and stabilization of a nonholonomic wheeled mobile robot. The control stability is guaranteed by adding a terminal state penalty to the cost function and constraining the terminal state to a terminal region. The terminal region and its corresponding local controller are developed based on T-S fuzzy model. The analysis results show that the proposed nonlinear model predictive controller has simultaneous tracking and regulation capability. Simulation results are provided to verify the proposed control strategy.

Published in:

Control Conference (CCC), 2012 31st Chinese

Date of Conference:

25-27 July 2012