Model predictive path-following for constrained nonlinear systems

Publikationstyp
Conference Paper
Date Issued
2009
Sprache
English
Author(s)
Faulwasser, Timm  
Kern, Benjamin
Findeisen, Rolf  
TORE-URI
https://hdl.handle.net/11420/45991
Start Page
8642
End Page
8647
Article Number
5399744
Citation
48th IEEE Conference on Decision and Control (CDC 2009)
Contribution to Conference
48th IEEE Conference on Decision and Control, CDC 2009  
Publisher DOI
10.1109/CDC.2009.5399744
Scopus ID
2-s2.0-77950850262
Publisher
IEEE
ISBN
978-1-4244-3871-6
978-1-4244-3872-3
We propose a model predictive control approach to path-following problems of constrained nonlinear systems. We directly consider input and state constraints. Furthermore, we introduce an extended corridor path-following problem, which allows to add spatial degrees of freedom to the path formulation.We give sufficient stability conditions for predictive solutions to 1d and corridor path-following problems. To illustrate the performance of our approach we discuss the example of an autonomous vehicle subject to input constraints.
Subjects
Corridor path-following
Input and state constraints
Nonlinear model predictive control
Stability
DDC Class
004: Computer Sciences
510: Mathematics