Hybrid Predictive Control of Mobile Robots for Path Following

The main objectives of this work are the development of simulation models and the synthesis of controllers for path following, in the scope of mobile robotics. The mathematical model of the mobile robot is nonlinear and subject to a set of constraints at the inputs of the system, as well as in its states. Therefore, hybrid control techniques integrated in a model predictive control strategy are proposed. The proposed methodology allows the respect of the constraints and guarantees the asymptotical stability of the controlled system. The obtained results show that the methodology used for controller synthesis is promising and deserves future development.