Path Following Control of a Mobile Robot Using Contractive Model Predictive Control

Abstract:

In this paper, we propose a novel controller based on contractive model predictive control for the path following problem of a mobile robot. Besides dealing with path following, we also fulfill the following objectives: bounded control signals and optimal forward velocity. These three objectives are all achieved through integrating into our model predictive control framework as constraints. However, the major concern in the use of model predictive control is whether such an open-loop control scheme can guarantee system stability. In this case, we apply the idea of a contractive constraint to guarantee the stability of our MPC framework. To illustrate its effectiveness, several simulation scenarios have been conducted.

• Periodical: Applied Mechanics and Materials (Volumes 397-400)
• Pages: 1366-1372
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.397-400.1366
• Online since: September 2013
• Authors: Kiattisin Kanjanawanishkul
• Keywords: Contractive Model Predictive Control, Mobile Robot, Motion Control, Path Following

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