Abstract: A backstepping design-based constructive nonlinear predictive control algorithm is proposed for strict feedback nonlinear systems subject to constraints on the state and input.Using backstepping method,the control Lyapunov functions of the system are constructed offline and then stabilized tuning controllers(i.e.class of stable control) of the system are obtained.With performance indexes,the tuning parameter of the controller is optimized movingly and predictive control actions are computed to satisfy the system constraint.Moreover,the properties of control Lyapunov functions are explored to establish the stability of the closed-loop system.Finally,the optimization control of wheeled mobile robots is used to illustrate the effectiveness of the result in this paper.