Model predictive path-following for constrained nonlinear systems

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.


Published in:
Proc. 48th IEEE Conference on Decision and Control held jointly with the 2009 28th Chinese Control Conference CDC/CCC 2009, 8642-8647
Presented at:
Joint 48th IEEE Conference on Decision and Control (CDC) and 28th Chinese Control Conference (CCC), Shanghai, China, 15-18 December 2009
Year:
2009
Publisher:
IEEE
Keywords:
Laboratories:




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

External link:
Download fulltext
Preprint
Rate this document:

Rate this document:
1
2
3
 
(Not yet reviewed)