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Constrained output path-following for nonlinear systems using predictive control
Publikationstyp
Conference Paper
Date Issued
2010
Sprache
English
Author(s)
Journal
Volume
43
Issue
14
Start Page
753
End Page
758
Citation
8th IFAC Symposium on Nonlinear Control Systems (NOLCOS 2010)
Contribution to Conference
Publisher DOI
Scopus ID
Publisher
Elsevier
ISBN
978-3-902661-80-7
We address the problem of steering the output of a nonlinear system along a given parametrized reference path, taking input and state constraints into account. Such problems are known as output path-following problems, which typically arise in vehicle and robot control and also in process control. We propose an efficient, continuous time, sampled-data state feedback, predictive control scheme which guarantees convergence to an output path in the presence of state and input constraints. © 2010 IFAC.
Subjects
Constraints
Nonlinear model predictive control
Path-following
Semi-definite cost functions
DDC Class
620: Engineering