A flexible-step MPC protocol with state-dependent weights achieves global exponential stabilization for the discrete-time force- and torque-actuated unicycle via a generalized discrete-time control Lyapunov function, without terminal costs or constraints.
Point Stabilization of Nonholonomic Mobile Robot by B´ ezier Smooth Subline Constraint Nonlinear Model Predictive Control
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Global exponential stabilization of a force- and torque-actuated unicycle by flexible-step MPC
A flexible-step MPC protocol with state-dependent weights achieves global exponential stabilization for the discrete-time force- and torque-actuated unicycle via a generalized discrete-time control Lyapunov function, without terminal costs or constraints.