A model predictive approach to optimal path-following and contouring control

@inproceedings{Lam2012AMP,
  title={A model predictive approach to optimal path-following and contouring control},
  author={Denise Lam},
  year={2012}
}
IN the multi-billion dollar motion control industry, systems are often required to traverse along a geometric path, where the speed at which the path is traversed is not pre-determined. Such path-following tasks involve competing control objectives of maximising accuracy while minimising traversal time. Existing trajectory planning routines optimise the path speed with respect to some of these objectives. However, trajectory planning is conducted in an open loop fashion, relying on trajectory… CONTINUE READING

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