Faulwasser, TimmFindeisen, Rolf2013-03-122013-03-122013-03-12201010.3182/20100901-3-IT-2016.00122https://infoscience.epfl.ch/handle/20.500.14299/90264We 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.path followingconstraintsnonlinear model predictive controlsemi-definite cost functionstext::conference output::conference proceedings::conference paper