Abstract
A model predictive control method is proposed for the point stabilization of wheeled mobile robots (WMRs) subject to nonholonomic constraints. The problem is simplified by considering only the steering system and neglecting the vehicle dynamics. A linearized error model is then formulated by transforming the robot position into polar frame. The feedback control policy is obtained by minimizing a quadratic cost function which penalizes the predicted errors and control variables in each sampling time over a finite horizon. The proposed control law is proven to guarantee the exponential stability of the robot system by considering additive inequality constraints in the optimization process. The performance of the stabilization algorithm is verified through computer simulations showing that the proposed method has a good regulation performance and convergence.
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