1 results
Now showing1 - 1 of 1
- Some of the metrics are blocked by yourconsent settings
Item type:Publication, Access status: without files , Exploiting manifold turnpikes in model predictive path following without terminal constraintsModel predictive path-following control (MPFC) considers geometric reference paths in output spaces without pre-assigned timing information. It combines trajectory generation and tracking into one receding-horizon optimal control problem. In this paper, we discuss MPFC without terminal constraints from a geometric point of view. Specifically, we consider implicitly parameterized paths and the recently introduced notion of manifold turnpikes to propose sufficient conditions for practical convergence of the system output towards a neighborhood of the reference path. We draw upon a simulation example to demonstrate the efficacy of the proposed scheme.Publicationtype: Conference Paper22