Model predictive tracking control for wheeled mobile robots based on polytopic linear differential inclusion

In this paper, a nonlinear model predictive control scheme is developed to achieve trajectory tracking for a wheeled mobile robot. A polytopic linear differential inclusion (PLDI)-based method is introduced in the control scheme to obtain a suitable terminal penalty term and a corresponding terminal region. By the PLDI-based method, some linear matrix inequality conditions are given to design the terminal region. Furthermore, recursive feasibility and convergence are investigated for the nonlinear model predictive control scheme. Effectiveness of the proposed scheme is demonstrated by simulation results.