Real-Time Point Stabilization of a Mobile Robot using Model Predictive Control

J.A. Vasconcelos Alves and W. Fetter Lages (Brazil)

Keywords

Realtime, Predictive control, Nonlinear control, Mobile robot

Abstract

This paper proposes a model predictive control (MPC) strategy for a differential-drive mobile robot. By using MPC, an appropriate optimal control law is implicitly ob tained. Furthermore, the system physical constraints on state and inputs are dealt with in a straightforward way. The optimization problem is solved by sequential quadratic programming (SQP) and experimental results show that the control signal computation can be performed under the real-time requirements.

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