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

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.