Nonlinear model predictive path-following control

Publikationstyp
Conference Paper
Date Issued
2009
Sprache
English
Author(s)
Faulwasser, Timm  
Findeisen, Rolf  
TORE-URI
https://hdl.handle.net/11420/45994
First published in
Lecture notes in control and information sciences  
Number in series
384 LNCIS
Start Page
335
End Page
343
Citation
Lecture Notes in Control and Information Sciences 384: 335-343 (2008)
Contribution to Conference
International Workshop on Assessment and Future Directions of Nonlinear Model Predictive Control, NMPC 2008
Publisher DOI
10.1007/978-3-642-01094-1_28
Scopus ID
2-s2.0-66749190517
Publisher
Springer
ISBN
978-3-642-01094-1
978-3-642-01093-4
In the frame of this work, the problem of following parametrized reference paths via nonlinear model predictive control is considered. It is shown how the use of parametrized paths introduces new degrees of freedom into the controller design. Sufficient stability conditions for the proposed model predictive path-following control are presented. The method proposed is evaluated via simulations of an autonomous mobil robot.
Subjects
Model predictive control
Nonlinear systems
Parametrized reference
Path-following
Reference tracking
Stability
DDC Class
004: Computer Sciences