2015/08/13 by Timm Faulwasser, Rolf Findeisen · 10 citations
Engineering · #Advanced Control Systems Optimization #Adaptive Control of Nonlinear Systems #Iterative Learning Control Systems
paper · doi:10.1109/tac.2015.2466911
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.