nam 22 uu 4500 dbt_mods_00051496 10.1016/j.ifacol.2021.08.535 doi dbt_mods_00051496 ger DE-601 rda eng 2022-02-14 621.3 sdnb Rußwurm, Franz VerfasserIn Author aut On MPC without terminal conditions for dynamic non-holonomic robots Rußwurm, Franz;Esterhuizen, Willem;Worthmann, Karl;Streif, Stefan (2022-02-14) 2021-09-09 6 Seiten text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier We consider an input-constrained differential-drive robot with actuator dynamics. For this system, we establish asymptotic stability of the origin on arbitrary compact, convex sets using Model Predictive Control (MPC) without stabilizing terminal conditions despite the presence of state constraints and actuator dynamics. We note that the problem without those two additional ingredients was essentially solved beforehand, despite the fact that the linearization is not stabilizable. We propose an approach successfully solving the task at hand by combining the theory of barriers to characterize the viability kernel and an MPC framework based on so-called cost controllability. Moreover, we present a numerical case study to derive quantitative bounds on the required length of the prediction horizon. To this end, we investigate the boundary of the viability kernel and a neighbourhood of the origin, i.e. the most interesting areas. article Esterhuizen, Willem VerfasserIn Author aut Worthmann, Karl VerfasserIn Author aut (DE-588)1162974796 Streif, Stefan VerfasserIn Author aut (DE-588)1012427188 Technische Universität Ilmenau Fakultät für Mathematik und Naturwissenschaften host institution his IFAC Conference on Nonlinear Model Predictive Control (NMPC); 7 (Bratislava) : 2021.07.11-14 54(2021), 6, Seite 133-138 54:6<133 Internationale Förderung für Automatische Lenkung; Technische Universität Ilmenau, Universitätsbibliothek IFAC-PapersOnLine Enthalten in 2405-8963 dbt_mods_00048793 Fortsetzung von: Internationale Förderung für Automatische Lenkung: IFAC Proceedings Volumes https://www.db-thueringen.de/receive/dbt_mods_00051496 object in context https://www.db-thueringen.de/servlets/MCRFileNodeServlet/dbt_derivate_00055723/2405-8963_54_2021_6_133-138.pdf raw object https://www.db-thueringen.de/rsc/thumbnail/dbt_mods_00051496.png preview http://uri.gbv.de/document/gvk:ppn:1779766203 uri