The control of mobile robotic systems with input constraints is still a remarkable problem for many applications. This paper studies the model predictive control-based kinematic control scheme after implementing the decoupling technique of wheeled mobile robots (WMRs). This method enables us to obtain the easier optimization problem with fixed initial state. The finite horizon in cost function of model predictive control (MPC) algorithm requires the appropriate terminal controller as well as the equivalent terminal region. The stability of MPC is determined by feasible control sequence. Finally, offline simulation results validate that the computation load is significantly reduced and also validate trajectory tracking control effectiveness of our proposed control scheme.

中文翻译：

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轮式移动机器人的有限水平鲁棒非线性模型预测控制

在许多应用中，具有输入约束的移动机器人系统的控制仍然是一个突出的问题。在实现了轮式移动机器人（WMR）的解耦技术之后，本文研究了基于模型预测控制的运动学控制方案。这种方法使我们可以在固定初始状态下获得更简单的优化问题。模型预测控制（MPC）算法的成本函数中的有限范围需要适当的终端控制器以及等效的终端区域。MPC的稳定性取决于可行的控制顺序。最后，离线仿真结果验证了计算量的显着降低，同时也验证了我们提出的控制方案的轨迹跟踪控制效果。