Abstract
We consider a constrained-input robot with differential drive and actuator dynamics. For this system, we establish asymptotic stability of the origin on arbitrary compact convex sets using Model Predictive Control (MPC), without stabilizing the terminal conditions despite the presence of state constraints and actuator dynamics. We observe that the problem has essentially been solved without these two additional components, even though linearization is not stabilizable. We propose an approach for successfully addressing the given task, based on the so-called cost controllability. Furthermore, we present a numerical case study to derive quantitative limits for the required prediction horizon length.
Participating universities/institutions: Chemnitz University of Technology, Automatic Control and System Dynamics Laboratory, Germany; Ilmenau University of Technology, Optimization-based Control, Germany