摘要：AbstractThis paper considers model predictive path-following control for differentially driven mobile robots and state-space paths. In contrast to previous works, we analyze stability of model predictive path-following control without stabilizing terminal constraints or terminal costs. To this end, we verify cost controllability assumptions and compute bounds on the stabilizing horizon length. Finally, we draw upon simulations to verify our stability results.
关键词：Keywordsnonlinear model predictive controlmobile robotspath followingstability
