Model predictive path-following for constrained nonlinear systems

@article{Faulwasser2009ModelPP,
  title={Model predictive path-following for constrained nonlinear systems},
  author={T. Faulwasser and Benjamin Kern and R. Findeisen},
  journal={Proceedings of the 48h IEEE Conference on Decision and Control (CDC) held jointly with 2009 28th Chinese Control Conference},
  year={2009},
  pages={8642-8647}
}
  • T. Faulwasser, Benjamin Kern, R. Findeisen
  • Published 2009
  • Engineering, Computer Science
  • Proceedings of the 48h IEEE Conference on Decision and Control (CDC) held jointly with 2009 28th Chinese Control Conference
  • We propose a model predictive control approach to path-following problems of constrained nonlinear systems. We directly consider input and state constraints. Furthermore, we introduce an extended corridor path-following problem, which allows to add spatial degrees of freedom to the path formulation.We give sufficient stability conditions for predictive solutions to 1d and corridor path-following problems. To illustrate the performance of our approach we discuss the example of an autonomous… CONTINUE READING
    68 Citations

    Figures and Topics from this paper

    Explore Further: Topics Discussed in This Paper

    Nonlinear Model Predictive Control for Constrained Output Path Following
    • 78
    • PDF
    A predictive control-based algorithm for path following of autonomous aerial vehicles
    • 6
    A model predictive control approach to trajectory tracking problems via time-varying level sets of Lyapunov functions
    • T. Faulwasser, R. Findeisen
    • Mathematics, Computer Science
    • IEEE Conference on Decision and Control and European Control Conference
    • 2011
    • 32
    • PDF

    References

    SHOWING 1-10 OF 15 REFERENCES
    Reference governor for constrained nonlinear systems
    • 382
    • PDF
    A General Framework to Design Stabilizing Nonlinear Model Predictive Controllers
    • 306
    • PDF
    Performance limitations in reference tracking and path following for nonlinear systems
    • 146
    • PDF
    Global robust adaptive path following of underactuated ships
    • 160
    Robust output maneuvering for a class of nonlinear systems
    • 278
    • PDF
    Assessment and Future Directions of Nonlinear Model Predictive Control
    • 216
    • PDF
    Constrained model predictive control: Stability and optimality
    • 6,732
    • PDF
    Path-following for nonminimum phase systems removes performance limitations
    • 179
    • PDF
    Reference governors and predictive control
    • 15