A predictive solution to nonlinear path-following problems subject to constraints

Publikationstyp
Journal Article
Date Issued
2009-10-02
Sprache
German
Author(s)
Faulwasser, Timm  
Findeisen, Rolf  
TORE-URI
https://hdl.handle.net/11420/45998
Journal
AT Automatisierungstechnik  
Volume
57
Issue
8
Start Page
386
End Page
394
Citation
At-Automatisierungstechnik 57 (8): 386-394 (2009)
Publisher DOI
10.1524/auto.2009.0784
Scopus ID
2-s2.0-70349509827
Publisher
De Gruyter
A model predictive control scheme to solve path-following problems for nonlinear systems subject to input and state constraints is proposed. Sufficient conditions which guarantee the stability of the proposed scheme are derived. Furthermore, it is discussed how additional degrees of freedom in the path description can be formulated in an extended path-following setup. The presented schemes are exemplified by simulations of a vehicle. © Oldenbourg Wissenschaftsverlag.
Subjects
Constraints
Model predictive control
Nonlinear systems
Path-following
Trajectory tracking
DDC Class
004: Computer Sciences
620: Engineering