Nonlinear Model Predictive Control for Constrained Output Path Following

DOI10.1109/TAC.2015.2466911zbMATH Open1359.93193arXiv1502.02468OpenAlexW1724370735MaRDI QIDQ2980609FDOQ2980609

Authors: Timm Faulwasser, Rolf Findeisen 

Publication date: 3 May 2017

Published in: IEEE Transactions on Automatic Control (Search for Journal in Brave)

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.

Full work available at URL: https://arxiv.org/abs/1502.02468

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Mathematics Subject Classification ID

Dynamic programming in optimal control and differential games (49L20) Control/observation systems governed by ordinary differential equations (93C15)

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