Faulwasser, TimmTimmFaulwasserFindeisen, RolfRolfFindeisen2024-02-262024-02-262009Lecture Notes in Control and Information Sciences 384: 335-343 (2008)978-3-642-01094-1978-3-642-01093-4https://hdl.handle.net/11420/45994In the frame of this work, the problem of following parametrized reference paths via nonlinear model predictive control is considered. It is shown how the use of parametrized paths introduces new degrees of freedom into the controller design. Sufficient stability conditions for the proposed model predictive path-following control are presented. The method proposed is evaluated via simulations of an autonomous mobil robot. © 2009 Springer Berlin Heidelberg.enModel predictive controlNonlinear systemsParametrized referencePath-followingReference trackingStabilityComputer SciencesConference Paper10.1007/978-3-642-01094-1_28Conference Paper