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  4. Constrained Output Path-Following for Nonlinear Systems Using Predictive Control
 
conference paper

Constrained Output Path-Following for Nonlinear Systems Using Predictive Control

Faulwasser, Timm  
•
Findeisen, Rolf
2010
Proceedings of 8th IFAC Symposium on Nonlinear Control Systems (NOLCOS)
8th IFAC Symposium on Nonlinear Control Systems (NOLCOS)

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.

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Type
conference paper
DOI
10.3182/20100901-3-IT-2016.00122
Author(s)
Faulwasser, Timm  
Findeisen, Rolf
Date Issued

2010

Published in
Proceedings of 8th IFAC Symposium on Nonlinear Control Systems (NOLCOS)
Start page

753

End page

758

Subjects

path following

•

constraints

•

nonlinear model predictive control

•

semi-definite cost functions

Editorial or Peer reviewed

REVIEWED

Written at

OTHER

EPFL units
LA  
Event nameEvent placeEvent date
8th IFAC Symposium on Nonlinear Control Systems (NOLCOS)

Bologna, Italy

September 1-3, 2010

Available on Infoscience
March 12, 2013
Use this identifier to reference this record
https://infoscience.epfl.ch/handle/20.500.14299/90264
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