• DOI:10.1109/CDC.2009.5399744
Corpus ID: 24217271

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

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