Unicycle-like Vehicle Parking via Receding Horizon Control

Author

Gu, Dongbing ; Hu, Huosheng

Author_Institution

Dept. of Comput. Sci., Essex Univ., Colchester

fYear

2004

fDate

22-26 Aug. 2004

Firstpage

379

Lastpage

384

Abstract

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

Keywords

mobile robots; nonlinear control systems; predictive control; stability; control constraint; control stability; model predictive control; nonlinear terminal state controller; optimisation constraint; receding horizon control; terminal state penalty; terminal state region; unicycle-like vehicle parking; Constraint optimization; Cost function; Feedback control; Linear feedback control systems; Lyapunov method; Predictive control; Predictive models; Robots; Stability; Vehicles; Model predictive control; Receding horizon control; unicycle-like vehicles;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Biomimetics, 2004. ROBIO 2004. IEEE International Conference on

Conference_Location

Shenyang

Print_ISBN

0-7803-8614-8

Type

conf

DOI

10.1109/ROBIO.2004.1521808

Filename

1521808