Nonlinear Model Predictive Control of an Omnidirectional Mobile Robot

Abstract

This paper focuses on motion control problems of an omnidirectional robot based on the Nonlinear Model Predictive Control (NMPC) method. The main contributions of this paper are not only to analyze and design NMPC controllers with guaranteed stability to nonlinear kinematic models, but also to show the feasibility of NMPC with a real fast moving omnidirectional robot.