Lyapunov-based model predictive control for tracking of nonholonomic mobile robots under input constraints

This paper studies the tracking problem of nonholonomic wheeled robots subject to control input constraints. In order to take optimality considerations into account while designing saturated tracking controllers, a Lyapunov-based predictive tracking controller is developed, in which the contractive constraint is characterized by a backup global saturated tracking controller. Theoretical results on ensuring global feasibility and closed-loop stability of the controller are provided. In addition, the proposed methodology admits suboptimal solutions. Finally, numerical simulations are performed to verify the effectiveness of the proposed control strategy.

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