Abstract
In this paper, a linear time-varying model predictive control (MPC) is proposed for the wheeled mobile robot to track the reference trajectory. The nonlinear model subject to the non-holonomic constraint is linearized and discretized into a linear time-varying model, such that the time-varying MPC can be applied. The MPC algorithm is processed with the linear time-varying model. Recursive feasibility and closed-loop stability are proved in the framework of time-varying systems, while the control inputs (linear and angular velocities) are proved to be bounded within their constraints. A simulation example is provided to support the theoretical result.
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