Faulwasser, TimmTimmFaulwasserKern, BenjaminBenjaminKernFindeisen, RolfRolfFindeisen2024-02-262024-02-26200948th IEEE Conference on Decision and Control (CDC 2009)978-1-4244-3871-6978-1-4244-3872-3https://hdl.handle.net/11420/45991We propose a model predictive control approach to path-following problems of constrained nonlinear systems. We directly consider input and state constraints. Furthermore, we introduce an extended corridor path-following problem, which allows to add spatial degrees of freedom to the path formulation.We give sufficient stability conditions for predictive solutions to 1d and corridor path-following problems. To illustrate the performance of our approach we discuss the example of an autonomous vehicle subject to input constraints. ©2009 IEEE.enCorridor path-followingInput and state constraintsNonlinear model predictive controlStabilityComputer SciencesMathematicsConference Paper10.1109/CDC.2009.5399744Conference Paper