Predictive Path Following of Mobile Robots without Terminal Stabilizing Constraints * *Authors M.W.M., T.F., and K.W. are supported by the Deutsche Forschungsgemeinschaft, Grants WO 2056/1 and WO 2056/4-1. Authors M.W.M., G.K.I.M., and R.G.G. are supported by Natural Sciences and Engineering Research Council of Canada (NSERC), the Research and Development Corporation (RDC), C-CORE J.I. Clark Chair, and Memorial University of Newfoundland.

Abstract

Abstract This paper considers model predictive path-following control for differentially driven mobile robots and state-space paths. In contrast to previous works, we analyze stability of model predictive path-following control without stabilizing terminal constraints or terminal costs. To this end, we verify cost controllability assumptions and compute bounds on the stabilizing horizon length. Finally, we draw upon simulations to verify our stability results.