Nonlinear model predictive control for constrained output path following

Publikationstyp
Journal Article
Date Issued
2016-04-01
Sprache
English
Author(s)
Faulwasser, Timm  
Findeisen, Rolf  
TORE-URI
https://hdl.handle.net/11420/46210
Journal
IEEE transactions on automatic control  
Volume
61
Issue
4
Start Page
1026
End Page
1039
Article Number
7185359
Citation
IEEE Transactions on Automatic Control 61 (4): 1026-1039 (2016)
Publisher DOI
10.1109/TAC.2015.2466911
Scopus ID
2-s2.0-84963594945
Publisher
Institute of Electrical and Electronics Engineers
We consider the tracking of geometric paths in output spaces of nonlinear systems subject to input and state constraints without pre-specified timing requirements, commonly referred to as constrained output path-following problems. Specifically, we propose a predictive control approach to constrained path-following problems with and without velocity assignments. We present sufficient convergence conditions based on terminal regions and end penalties. Furthermore, we analyze the geometric nature of constrained output path-following problems and thereby provide insight into the computation of suitable terminal control laws and terminal regions. We draw upon an example from robotics to illustrate our findings.
Subjects
Constraints
Nonlinear model predictive control
Path following
Stability
Transverse normal forms
DDC Class
004: Computer Sciences
510: Mathematics