NDLI: Nonlinear model predictive control for path following problems

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Nonlinear model predictive control for path following problems

Content Provider	Semantic Scholar
Author	Yu, Shuyou Li, Xiang Chen Allgöwer, Frank
Copyright Year	2015
Abstract	Summary This paper presents a general nonlinear model predictive control scheme for path following problems. Path following problem of nonlinear systems is transformed into a parameter-dependent regulation problem. Sufficient conditions for recursive feasibility and asymptotic convergence of the given scheme are presented. Furthermore, a polytopic linear differential inclusion-based method of choosing a suitable terminal penalty and the corresponding terminal constraint are proposed. To illustrate the implementation of the nonlinear model predictive control scheme, the path following problem of a car-like mobile robot is discussed, and the control performance is confirmed by simulation results. Copyright © 2014 John Wiley & Sons, Ltd.
Starting Page	1168
Ending Page	1182
Page Count	15
File Format	PDF HTM / HTML
DOI	10.1002/rnc.3133
Volume Number	25
Alternate Webpage(s)	http://www.shuyouyu.com/publication/proceeding/21Nonlinear%20model%20predictive%20control%20for%20path%20following%20problems.pdf
Alternate Webpage(s)	http://www.shuyouyu.com/publication/journal/12Nonlinear%20model%20predictive%20control%20for%20path%20following%20problems.pdf
Alternate Webpage(s)	https://doi.org/10.1002/rnc.3133
Language	English
Access Restriction	Open
Content Type	Text
Resource Type	Article

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