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conference paper
Constrained Output Path-Following for Nonlinear Systems Using Predictive Control
2010
Proceedings of 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.
Type
conference paper
Authors
Publication date
2010
Published in
Proceedings of 8th IFAC Symposium on Nonlinear Control Systems (NOLCOS)
Start page
753
End page
758
Peer reviewed
REVIEWED
EPFL units
Event name | Event place | Event date |
Bologna, Italy | September 1-3, 2010 | |
Available on Infoscience
March 12, 2013
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