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conference paper
Model predictive path-following for constrained nonlinear systems
2009
Proc. 48th IEEE Conference on Decision and Control held jointly with the 2009 28th Chinese Control Conference CDC/CCC 2009
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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Name
Path_FollwingCDC2009.pdf
Type
Preprint
Access type
openaccess
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469.68 KB
Format
Adobe PDF
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