Trajectory Tracking of Wheeled Mobile Robot Based on Model Predictive Control without Terminal Constraints

Model Predictive Control(MPC) without terminal constraints can make the controller have higher dynamic performance and less computation. However, how to design a MPC algorithm without terminal constraints for a specific system while ensuring the stability of the system has become a challenging research. In this paper, a feasible form of MPC without terminal constraints is given for nonlinear systems by constructing cost functions and Lyapunov functions. We show that for MPC algorithms without terminal constraints, there is control input to stabilize the system. Then we propose a new trajectory tracking error model based on non-linear the wheeled mobile robot(WMR) system and design a MPC algorithm without terminal constraints under the framework of the model. Finally, the simulation results show that the algorithm can also guarantee the gradual convergence of WMR error tracking system to the origin without terminal constraints.