A Flatness-Based Iterative Method for Reference Trajectory Generation in Constrained NMPC

DOI10.1007/978-3-642-01094-1_27MaRDI QIDQ3589798zbMATH OpenOpenAlexFDO

Authors José A. De Doná, Fajar Suryawan, Jean Lévine, María M. Seron

Publication date 20 September 2010

Published in Nonlinear Model Predictive Control (Search for Journal in Brave)

Full work available at URL http://hdl.handle.net/1959.13/917976

zbMATH Keywords

B-splinesflatnesstrajectory generationnonlinear MPC

Mathematics Subject Classification ID

Numerical computation using splines (65D07) Design techniques (robust design, computer-aided design, etc.) (93B51) Nonlinear systems in control theory (93C10)

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• Axis-coupled trajectory generation for chains of integrators through smoothing splines
• Predictive control for path-following. From trajectory generation to the parametrization of the discrete tracking sequences

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