参考：
Kuhne F , Lages W , Silva J D . Point stabilization of mobile robots with nonlinear model predictive control[J]. 2005.
Point Stabilization for Wheeled Mobile Robots Using Model Predictive Control
Gu D , Hu H . Receding Horizon tracking control of wheeled mobile robots[J]. IEEE Transactions on Control Systems Technology, 2006, 14(4):743-749.
https://drive.wps.cn/mine/28717934032
【1】Kuhne F , Lages W , Silva J D . Point stabilization of mobile robots with nonlinear model predictive control[J]. 2005.
运动学模型
MPC控制-无终端项
MPC控制-加入终端项
MPC控制-极坐标系下
【2】Point Stabilization for Wheeled Mobile Robots Using Mode Predictive Control
【3】Gu D , Hu H . Receding Horizon tracking control of wheeled mobile robots[J]. IEEE Transactions on Control Systems Technology, 2006, 14(4):743-749.
圆形仿真
8字形
平行泊车
