Robust Model Predictive Control Based Kinematic Controller for Nonholonomic Wheeled Mobile Robotic Systems

A wheel mobile robot (WMR) is a remarkable mobile robot system with unknown parameters, or unpredictable and irregular features, external disturbances and it is hard to implement a control design. Due to the nonholonomic constraint’s description, this work considers the combination between the model separation technique and model predictive control (MPC) approach to obtain the robust control design. Thanks to the advantage of this proposed solution, the external disturbances will be neglected in kinematic model. Hence, the MPC kinematic control design only cares about the under-actuated description. The stability of the whole system is determined via theoretical analysis of intermediate terminal controller. The results of offline simulation demonstrate the good performances of the proposed controller for a WMR.

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