Robust model predictive kinematic tracking control with terminal region for wheeled robotic systems

This paper addresses the nonlinear model predictive control (MPC) for wheeled mobile robots (WMRs) under external disturbance. The decoupling technique is utilized based on non-holonomic constraint description separating WMR model. method able to achieve under-actuated kinematic sub-system without disturbance and fully-actuated dynamic in presence of Thanks technique, lumped into sub-system. novelty lies that MPC-based tracking with fixed initial point guarantees stability a new establishment terminal region equivalent controller. feasibility problem demonstrated lead using theoretical analysis. Moreover, structure inserted more robust effectiveness advantages proposed scheme are verified by numerical simulations Yamip tool.