Constrained Output Path-Following for Nonlinear Systems Using Predictive Control

• Presented at: 8th IFAC Symposium on Nonlinear Control Systems (NOLCOS), Bologna, Italy, September 1-3, 2010
• Published in: Proceedings of 8th IFAC Symposium on Nonlinear Control Systems (NOLCOS), p. 753-758
• Publication date: 2010

We address the problem of steering the output of a nonlinear system along a given parametrized reference path, taking input and state constraints into account. Such problems are known as output path-following problems, which typically arise in vehicle and robot control and also in process control. We propose an efficient, continuous time, sampled-data state feedback, predictive control scheme which guarantees convergence to an output path in the presence of state and input constraints.

Keywords: path following ; constraints ; nonlinear model predictive control ; semi-definite cost functions

Reference

• EPFL-CONF-184963
• doi:10.3182/20100901-3-IT-2016.00122

Record created on 2013-03-12, modified on 2017-05-10