Milosavljevic, PredragPredragMilosavljevicFaulwasser, TimmTimmFaulwasserMarchetti, AlejandroAlejandroMarchettiBonvin, DominiqueDominiqueBonvin2024-03-052024-03-0520162016 European Control Conference (ECC) : June 29-July 1, 2016, Aalborg, Denmark. - Piscataway, NJ, 2016. - Seite 2228-2233978-1-5090-2591-6978-1-5090-2592-3978-1-5090-2590-9https://hdl.handle.net/11420/46201Path-following tasks, which refer to dynamic motion planning along pre-specified geometric references, are frequently encountered in applications such as milling, robot-supported measurements, and trajectory planning for autonomous vehicles. Different convex and non-convex optimal control formulations have been proposed to tackle these problems for the case of perfect models. This paper analyzes path-following problems in the presence of plant-model mismatch. The proposed adaptation strategies rely on concepts that are well known in the field of real-time optimization. We present conditions guaranteeing that, upon convergence, a minimumtime solution is attained despite the presence of plant-model mismatch. We draw upon a simulated robotic example to illustrate our results.enconstraint adaptationpath followingreal-time optimizationuncertain systemsComputer SciencesElectrical Engineering, Electronic EngineeringConference Paper10.1109/ECC.2016.7810622Conference Paper