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Exploiting manifold turnpikes in model predictive path following without terminal constraints
Publikationstyp
Conference Paper
Date Issued
2024-12
Sprache
English
Start Page
4771
End Page
4776
Citation
63rd IEEE Conference on Decision and Control, CDC 2024
Contribution to Conference
Publisher DOI
Scopus ID
Publisher
IEEE
ISBN
979-8-3503-1633-9
979-8-3503-1634-6
Model predictive path-following control (MPFC) considers geometric reference paths in output spaces without pre-assigned timing information. It combines trajectory generation and tracking into one receding-horizon optimal control problem. In this paper, we discuss MPFC without terminal constraints from a geometric point of view. Specifically, we consider implicitly parameterized paths and the recently introduced notion of manifold turnpikes to propose sufficient conditions for practical convergence of the system output towards a neighborhood of the reference path. We draw upon a simulation example to demonstrate the efficacy of the proposed scheme.
DDC Class
600: Technology