Regulation of Differential Drive Robots using Continuous Time MPC without Stabilizing Constraints or Costs *

摘要

In this paper, model predictive control (MPC) of differential drive robots is considered. Here, we solve the set point stabilization problem without incorporating stabilizing constraints and/or costs in the MPC scheme. In particular, we extend recent results obtained in a discrete time setting to the continuous time domain. To this end, so called swaps and replacements are introduced in order to validate a growth condition on the value function and, thus, to rigorously prove asymptotic stability of the MPC closed loop for nonholonomic robots.