Constrained Output Path-Following for Nonlinear Systems Using Predictive Control

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.


Published in:
Proceedings of 8th IFAC Symposium on Nonlinear Control Systems (NOLCOS), 753-758
Presented at:
8th IFAC Symposium on Nonlinear Control Systems (NOLCOS), Bologna, Italy, September 1-3, 2010
Year:
2010
Keywords:
Laboratories:




 Record created 2013-03-12, last modified 2018-09-13


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