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Nonlinear Model Predictive Control for Constrained Output Path Following
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DOI：10.1109/TAC.2015.2466911.png)
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摘要
En 中文
We consider the tracking of geometric paths in output spaces of nonlinear systems subject to input and state constraints without pre-specified timing requirements, 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. We present 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.
Keyword:
Constraints
nonlinear model predictive control (NMPC)
path following
stability
transverse normal forms
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期刊
IF:
7
论文数:
1.3W
被引数:
6.7W
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