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

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  • Robot and Applications
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Abstract

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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Authors and Affiliations

  1. School of Marine Science and Technology, Northwestern Polytechnical University, Xi’an, China

    Changxin Liu, Jian Gao & Demin Xu

Authors
  1. Changxin Liu
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  2. Jian Gao
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  3. Demin Xu
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Corresponding author

Correspondence to Jian Gao.

Additional information

Recommended by Associate Editor Sooyeong Yi under the direction of Editor Hyun-Seok Yang. This work was supported by the National Nature Science Foundation of China (NSFC) under grant 51279164 and 61473225.

Changxin Liu was born in Hubei, China, in 1991. He received his M.Sc. degree in mechanical engineering and automatic control from Northwestern Polytechnical University, Xi’an, China, in 2015, where he is currently working toward the Ph.D. degree in mechanical engineering and automatic control. His research interests include model predictive control and distributed and cooperative control of underwater vehicles.

Jian Gao received the B.Sc., M.Sc. and Ph.D. degrees in control engineering from Northwestern Polytechnical University, Xi’an, China, in 2001, 2004, and 2007, respectively. He is currently an Associate Professor at the School of Marine Science and Technology, Northwestern Polytechnical University, Xi’an, China. His research interests include nonlinear control theory, visual servoing, and motion control of underwater vehicles.

Demin Xu received his M.Sc. degree in mechanical engineering and automatic control from Northwestern Polytechnical University, Xi’an, China, in 1964. Since 1964, he has been with the School of Marine Science and Technology, Xi’an, where he is currently a Full Professor. He is an academician of the Chinese Academy of Engineering. His research interests are mainly focused on advanced control theory and control of underwater vehicles.

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Liu, C., Gao, J. & Xu, D. Lyapunov-based model predictive control for tracking of nonholonomic mobile robots under input constraints. Int. J. Control Autom. Syst. 15, 2313–2319 (2017). https://doi.org/10.1007/s12555-016-0350-x

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  • DOI: https://doi.org/10.1007/s12555-016-0350-x

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