National Natural Science Foundation of China [61174045, 61025016, 61473120]
; Program for New Century Excellent Talents in University [NCET-12-0195]
; Ph.D. Programs Foundation of Ministry of Education of China 
; State Key Laboratory of Robotics and System [SKLRS-2014-MS-05]
; Foundation of State Key Laboratory of Robotics [2014-007]
; Guangzhou Research Collaborative Innovation Projects 
In this paper, a class of nonholonomic chained systems is first converted into two subsystems, and then an explicit exponential decaying term is introduced into the input of the first subsystem to guarantee its controllability. After a state-scaling transformation, a model predictive control (MPC) scheme is proposed for the nonholonomic chained systems. The proposed MPC scheme employs a general projection neural network (GPN) to iteratively solve a quadratic programming (QP) problem over a finite receding horizon. The GPN employed in this paper is proved to be stable in the sense of Lyapunov, and its global convergence to the optimal solution is guaranteed for the reformulated QP. A simulation study is performed to show stable and convergent control performance under the proposed method, irrespective of whether the control input u(1) vanishes or not.
Li ZJ,Xiao, Hanzhen,Yang CG,et al. Model Predictive Control of Nonholonomic Chained Systems Using General Projection Neural Networks Optimization[J]. IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS,2015,45(10):1313-1321.