Constrained Model Predictive Control of a Skid-Steering Mobile Robot

Federico Bribiesca Argomedo (1, 2) , Nicolas Marchand (1) , Olivier Sename (2)

1 GIPSA-SYSCO - GIPSA - Systèmes non linéaires et complexité
2 GIPSA-SLR - GIPSA - Systèmes linéaires et robustesse

Abstract—In this paper, a kinematic model of a four-wheelskid-steering mobile robot is presented and a receding horizonstabilizing control law for the system is developed, based onthe optimization of a quadratic cost function on the systemstates and control inputs. Global asymptotic stability of thenominal system with actuator saturation constraints is analyticallyproven and a simple dynamical model is constructed forvalidation purposes. The robustness and performance of thecontroller were tested under simulation on both models andthe results are presented and discussed.

Domaines: Automatique / Robotique; Automatique

Federico Bribiesca Argomedo, Nicolas Marchand, Olivier Sename. Constrained Model Predictive Control of a Skid-Steering Mobile Robot. ECC 2009 - European Control Conference, Aug 2009, Budapest, Hungary. ⟨hal-00368511⟩