Faulwasser, TimmTimmFaulwasserFindeisen, RolfRolfFindeisen2024-03-052024-03-052016-04-01IEEE Transactions on Automatic Control 61 (4): 1026-1039 (2016)https://hdl.handle.net/11420/46210We consider the tracking of geometric paths in output spaces of nonlinear systems subject to input and state constraints without pre-specified timing requirements, commonly referred to as constrained output path-following problems. Specifically, we propose a predictive control approach to constrained path-following problems with and without velocity assignments. We present sufficient convergence conditions based on terminal regions and end penalties. Furthermore, we analyze the geometric nature of constrained output path-following problems and thereby provide insight into the computation of suitable terminal control laws and terminal regions. We draw upon an example from robotics to illustrate our findings.en1558-25232016410261039Institute of Electrical and Electronics EngineersConstraintsNonlinear model predictive controlPath followingStabilityTransverse normal formsComputer SciencesMathematicsJournal Article10.1109/TAC.2015.2466911Other