Nonlinear Model Predictive Control for Constrained Output Path Following

We consider the tracking of geometric paths in output spaces of nonlinear systems subject to input and state constraints without pre-specified timing requirements. Such problems are commonly referred to as constrained output path-following problems. Specifically, we propose a predictive control approach to constrained path-following problems with and without velocity assignments and provide sufficient convergence conditions based on terminal regions and end penalties. Furthermore, we analyze the geometric nature of constrained output path-following problems and thereby provide insight into the computation of suitable terminal control laws and terminal regions. We draw upon an example from robotics to illustrate our findings.


Published in:
IEEE Transaction on Automatic Control, 61, 4, 1026-1039
Year:
2016
Publisher:
Piscataway, Institute of Electrical and Electronics Engineers
Keywords:
Laboratories:




 Record created 2014-08-16, last modified 2018-01-28


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