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conference paper

Model predictive path-following for constrained nonlinear systems

Faulwasser, Timm  
•
Kern, Benjamin
•
Findeisen, Rolf
2009
Proc. 48th IEEE Conference on Decision and Control held jointly with the 2009 28th Chinese Control Conference CDC/CCC 2009
Joint 48th IEEE Conference on Decision and Control (CDC) and 28th Chinese Control Conference (CCC)

We 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.

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Path_FollwingCDC2009.pdf

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Preprint

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Submitted version (Preprint)

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openaccess

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