Book Chapter

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.


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