Unicycle-like Vehicle Parking via Receding Horizon Control

This paper presents a receding horizon (RH) controller used for regulating a unicycle-like vehicle, which is able to handle control constraints. The RH control stability is guaranteed by adding a terminal state penalty to the cost function and a terminal state region to the optimisation constraints. A nonlinear terminal state controller is developed in the paper to guarantee the stability. Experimental results are provided to verify the proposed control strategy. It is shown that the control strategy is feasible