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arXiv · 1502.02468

Nonlinear Model Predictive Control for Constrained Output Path Following

Timm Faulwasser·Rolf Findeisen
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Abstract

We consider the tracking of geometric paths in output spaces of nonlinear systems subject to input and state constraints without pre-specified timing requirements. Such problems are 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 and provide 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.

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Timm Faulwasser, Rolf Findeisen. 2015-02-09. Nonlinear Model Predictive Control for Constrained Output Path Following. https://doi.org/10.1109/tac.2015.2466911

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