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Nonlinear Model Predictive Path-Following Control

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Nonlinear Model Predictive Control

Part of the book series: Lecture Notes in Control and Information Sciences ((LNCIS,volume 384))

Abstract

In the frame of this work, the problem of following parametrized reference paths via nonlinear model predictive control is considered. It is shown how the use of parametrized paths introduces new degrees of freedom into the controller design. Sufficient stability conditions for the proposed model predictive path-following control are presented. The method proposed is evaluated via simulations of an autonomous mobil robot.

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Author information

Authors and Affiliations

  1. Institute for Automation Engineering, Otto-von-Guericke University Magdeburg, Universitätsplatz 2, 39104, Magdeburg, Germany

    Timm Faulwasser & Rolf Findeisen

Authors
  1. Timm Faulwasser
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  2. Rolf Findeisen
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Editor information

Editors and Affiliations

  1. Dipartimento di Informatica e Sistemistica, Universita’ di Pavia, via Ferrata 1, 27100 Pavia, Italy

    Lalo Magni

  2. Automatic Control Laboratory, ETH Zurich , ETL I 24.2, Physikstrasse 3, CH-8092, Zürich, Switzerland

    Davide Martino Raimondo

  3. Institute for Systems Theory and Automatic Control, University of Stuttgart, Pfaffenwaldring 9, 70550, Stuttgart, Germany

    Frank Allgöwer

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Faulwasser, T., Findeisen, R. (2009). Nonlinear Model Predictive Path-Following Control. In: Magni, L., Raimondo, D.M., Allgöwer, F. (eds) Nonlinear Model Predictive Control. Lecture Notes in Control and Information Sciences, vol 384. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-01094-1_28

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  • DOI: https://doi.org/10.1007/978-3-642-01094-1_28

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-01093-4

  • Online ISBN: 978-3-642-01094-1

  • eBook Packages: EngineeringEngineering (R0)

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