Nonlinear Model Predictive Path-Following Control

In the frame of this work, the problem of following parametrized refer- ence paths via nonlinear model predictive control is considered. It is shown how the use of parametrized paths introduces new degrees of freedom into the con- troller design. Sufficient stability conditions for the proposed model predictive path-following control are presented. The method proposed is evaluated via simulationsof an autonomous mobil robot.


Editor(s):
Magni, Lalo
Raimundo, Davide
Allgöwer, Frank
Published in:
Nonlinear Model Predictive Control - Towards New Challenging Applications, 335-343
Year:
2009
Publisher:
Berlin, Heidelberg, Springer
Keywords:
Laboratories:




 Record created 2013-03-12, last modified 2018-01-28


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