Predictive path following control without terminal constraints

Publikationstyp
Book part
Date Issued
2021
Sprache
English
Author(s)
Faulwasser, Timm  
Mehrez, Mohamed W.  
Worthmann, Karl  
TORE-URI
https://hdl.handle.net/11420/46194
Journal
Lecture Notes in Control and Information Sciences  
Volume
485
Start Page
1
End Page
26
Citation
Lecture Notes in Control and Information Sciences 485: 1-26 (2021)
Publisher DOI
10.1007/978-3-030-63281-6_1
Scopus ID
2-s2.0-85104656086
Publisher
Springer Nature
We consider model predictive path-following control (MPFC) without stabilizing terminal constraints or costs. We investigate sufficient stability conditions in the framework of cost controllability. Then, we analyze cost controllability for path-following problems of differentially flat systems. Using this result, we establish that under suitable assumptions MPFC without terminal constraints or penalties leads to asymptotic stability provided the prediction horizon is sufficiently long. Further, the proposed methodology allows to quantify a stabilizing prediction horizon. We illustrate our findings considering a robotic manipulator example. We explicitly verify cost controllability and conduct numerical experiments.
Subjects
Asymptotic stability
Controllability
Industrial manipulators
DDC Class
004: Computer Sciences
510: Mathematics