Finite Horizon Robust Nonlinear Model Predictive Control for Wheeled Mobile Robots

Table 1

Parameters and physical variables of WMRs.

Parameter	Meaning	Unit
	Half of distance between two wheels	m
	The wheel’s radius	m
	The wheel’s radius	m
	The weight of platform	Kg
	Inertia moment of platform with respect to z-axis
	Inertia moment of wheels with respect to z-axis
	Inertia moment of wheels with respect to wheel axis
	Projection of the coordinate with respect to x-axis	m
	Projection of the coordinate with respect to y-axis	m
	Heading angle of mobile robots with respect to x-axis	rad
	Angular displacement of each wheel	rad
	WMR’s velocity	m/s