Constrained Model Predictive Control of a skid-steering mobile robot

In this paper, a kinematic model of a four-wheel skid-steering mobile robot is presented and a receding horizon stabilizing control law for the system is developed, based on the optimization of a quadratic cost function on the system states and control inputs. Global asymptotic stability of the nominal system with actuator saturation constraints is analytically proven and a simple dynamical model is constructed for validation purposes. The robustness and performance of the controller were tested under simulation on both models and the results are presented and discussed.