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This paper focuses on the design of a tube-based Model Predictive Control law for the control of constrained mobile robots in off-road conditions with longitudinal slip while ensuring robustness and stability. A time-varying trajectory tracking error model is used, where uncertainties are assumed to be bounded and additive. The robust tube-based MPC is(More)
—The problems of characterizing quadratic stability and computing an estimation of the domain of attraction for saturated hybrid systems are addressed. Hybrid systems presenting saturations and nested saturations on signals involved in both the continuous-time and the discrete-time dynamics are considered. Geometrical characterizations of local and global(More)
— The characterization of invariance and contrac-tiveness for discrete-time saturated linear systems is considered. The geometrical approach used to analyze the problem leads to conditions valid for generic symmetric convex sets. The application of the results to the ellipsoidal case generalizes known results and leads to computational improvements.