Model Predictive Control: Systematic Design Tailored to Nonholonomic Systems
Abstract
Nonholonomic systems are ubiquitous in applications such as transportation and robotics, yet their control remains challenging. In order to achieve asymptotic stability of a desired equilibrium, model predictive control (MPC) schemes without stabilizing terminal conditions have recently been proposed for nonholonomic kinematic systems. However, this approach still required lengthy system-specific calculations. This paper eliminates the need for these auxiliary calculations, as we propose a streamlined systematic design for MPC stage costs tailored to nonholonomic systems, utilizing the concepts of privileged coordinates and nonholonomic weights. Furthermore, the proposed design methodology is extended beyond purely kinematic models to a wider class of systems with non-negligible dynamics, and we highlight the geometric meaning of the resulting MPC stage costs. The systematic procedure is demonstrated using an articulated vehicle as an example.
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BibTeX
@misc{krendelsberger2026model,
title = {{Model Predictive Control: Systematic Design Tailored to Nonholonomic Systems}},
author = {Emilia F. P. Krendelsberger and Jasmin Krauspenhaar and Lea Bold and Mario Rosenfelder and Peter Eberhard and Henrik Ebel and Karl Worthmann},
howpublished = {arXiv},
year = {2026},
month = oct,
doi = {10.48550/arxiv.2610.29728},
eprint = {2610.29728},
archivePrefix = {arXiv},
url = {https://arxiv.org/abs/2610.29728},
}
RIS
TY - UNPB
TI - Model Predictive Control: Systematic Design Tailored to Nonholonomic Systems
AU - Emilia F. P. Krendelsberger
AU - Jasmin Krauspenhaar
AU - Lea Bold
AU - Mario Rosenfelder
AU - Peter Eberhard
AU - Henrik Ebel
AU - Karl Worthmann
PY - 2026
DA - 2026/10/21
PB - arXiv
DO - 10.48550/arxiv.2610.29728
UR - https://arxiv.org/abs/2610.29728
AB - Nonholonomic systems are ubiquitous in applications such as transportation and robotics, yet their control remains challenging. In order to achieve asymptotic stability of a desired equilibrium, model predictive control (MPC) schemes without stabilizing terminal conditions have recently been proposed for nonholonomic kinematic systems. However, this approach still required lengthy system-specific calculations. This paper eliminates the need for these auxiliary calculations, as we propose a streamlined systematic design for MPC stage costs tailored to nonholonomic systems, utilizing the concepts of privileged coordinates and nonholonomic weights. Furthermore, the proposed design methodology is extended beyond purely kinematic models to a wider class of systems with non-negligible dynamics, and we highlight the geometric meaning of the resulting MPC stage costs. The systematic procedure is demonstrated using an articulated vehicle as an example.
ER -