Robust tube-based MPC for constrained mobile robots under slip conditions

— This paper focuses on the design of a robust tube-based Model Predictive Control law for the control of constrained mobile robots. A time-varying trajectory tracking error model has been used, where uncertainties are assumed to be bounded and additive. The proposed solution to the control problem is a tube-based MPC ensuring robustness and stability. A comparative simulation example is presented showing the promising behavior of the robust MPC controller.

• Type: Conference
• Year: 2009
• Where: CDC
• Authors: Ramon Gonzalez, Mirko Fiacchini, Jose Luis Guzman, Teodoro Alamo
• Keywords: CDC 2009, Control Systems, MPC Ensuring Robustness, Robust Mpc Controller, Robust Tube-based Model