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, commonly referred to as constrained output path-following problems. Specifically, we propose a predictive control approach to constraine...

Full description

Saved in:
Bibliographic Details
Published inIEEE transactions on automatic control Vol. 61; no. 4; pp. 1026 - 1039
Main Authors Faulwasser, Timm, Findeisen, Rolf
Format Journal Article
LanguageEnglish
Published New York IEEE 01.04.2016
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects
Constraints
Convergence
Cost function
Dynamical systems
nonlinear model predictive control
Nonlinear systems
path following
Path planning
Predictive control
Robots
stability
Terminals
Time measurements
Timing
Tracking
Trajectory
transverse normal forms
nonlinear model predictive control (NMPC)
Constraints
path following
transverse normal forms
stability
Online AccessGet full text

Cover

More Information
Summary:We consider the tracking of geometric paths in output spaces of nonlinear systems subject to input and state constraints without pre-specified timing requirements, 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. We present 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.
Bibliography:ObjectType-Article-1
SourceType-Scholarly Journals-1
ObjectType-Feature-2
content type line 14
content type line 23
ISSN:0018-9286
1558-2523
DOI:10.1109/TAC.2015.2466911