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  4. Exploiting manifold turnpikes in model predictive path following without terminal constraints
 
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Exploiting manifold turnpikes in model predictive path following without terminal constraints

Publikationstyp
Conference Paper
Date Issued
2024-12
Sprache
English
Author(s)
Itani, Mohammad  
Regelungstechnik E-14  
Faulwasser, Timm  
Regelungstechnik E-14  
TORE-URI
https://hdl.handle.net/11420/57095
Start Page
4771
End Page
4776
Citation
63rd IEEE Conference on Decision and Control, CDC 2024
Contribution to Conference
63rd IEEE Conference on Decision and Control, CDC 2024  
Publisher DOI
10.1109/CDC56724.2024.10885821
Scopus ID
2-s2.0-86000531637
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
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