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Predictive Control for Path-Following. From Trajectory Generation to the Parametrization of the Discrete Tracking Sequences

  • Ionela ProdanEmail author
  • Sorin Olaru
  • Fernando A.C.C. Fontes
  • Fernando Lobo Pereira
  • João Borges de Sousa
  • Cristina Stoica Maniu
  • Silviu-Iulian Niculescu
Chapter
Part of the Lecture Notes in Control and Information Sciences book series (LNCIS, volume 464)

Abstract

This chapter discusses a series of developments on predictive control for path following via a priori generated trajectory for autonomous aerial vehicles. The strategy partitions itself into offline and runtime procedures with the assumed goal of moving the computationally expensive part into the offline phase and of leaving only tracking decisions to the runtime. First, it will be recalled that differential flatness represents a well-suited tool for generating feasible reference trajectory. Next, an optimization-based control problem which minimizes the tracking error for the nonholonomic system is formulated and further enhanced via path following mechanisms. Finally, possible changes of the selection of sampling times along the path and their impact on the predictive control formulation will be discussed in detail.

Keywords

Model predictive control (MPC) Differential flatness Trajectory tracking Path following Autonomous aerial vehicles 

Notes

Acknowledgments

All the authors acknowledge the support of FCT/ANR PESSOA Project “Advanced control of a fleet of heterogeneous autonomous vehicles.” F.A.C.C. Fontes, F. Lobo Pereira, and J. Borges de Sousa acknowledge the support of LSTS - Laboratory of Underwater Systems and Technologies of FEUP. F.A.C.C. Fontes and F. Lobo Pereira acknowledge the support of FCT underlying the funding of the R& D Unit SYSTEC-Research Center for Systems and Technologies.

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Copyright information

© Springer International Publishing Switzerland 2015

Authors and Affiliations

  • Ionela Prodan
    • 1
    Email author
  • Sorin Olaru
    • 2
  • Fernando A.C.C. Fontes
    • 4
  • Fernando Lobo Pereira
    • 4
  • João Borges de Sousa
    • 5
  • Cristina Stoica Maniu
    • 2
  • Silviu-Iulian Niculescu
    • 3
  1. 1.Laboratory of Conception and Integration of Systems (LCIS EA 3747)Université Grenoble AlpesValenceFrance
  2. 2.Laboratory of Signals and SystemsCentraleSupélec-CNRS-Université Paris-Sud, Université Paris-SaclayGif-sur-YvetteFrance
  3. 3.Laboratory of Signals and Systems (L2S, UMR CNRS 8506)CentraleSupélec-CNRS-Université Paris-Sud, Université Paris-SaclayGif-sur-YvetteFrance
  4. 4.SYSTEC—Faculty of EngineeringPorto University and ISR-PortoPortoPortugal
  5. 5.LSTS—Faculty of EngineeringPorto UniversityPortoPortugal

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