Nonlinear model predictive control for path following problems | Zendy

Yu Shuyou | Zendy; Li Xiang | Zendy; Chen Hong | Zendy; Allgöwer Frank | Zendy

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Nonlinear model predictive control for path following problems

Author(s) -

Yu Shuyou,

Li Xiang,

Chen Hong,

Allgöwer Frank

Publication year - 2014

Publication title -

international journal of robust and nonlinear control

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 1.361

H-Index - 106

eISSN - 1099-1239

pISSN - 1049-8923

DOI - 10.1002/rnc.3133

Subject(s) - model predictive control , nonlinear system , control theory (sociology) , path (computing) , terminal (telecommunication) , convergence (economics) , scheme (mathematics) , constraint (computer aided design) , computer science , mathematical optimization , control (management) , differential inclusion , nonlinear model , mathematics , artificial intelligence , telecommunications , mathematical analysis , physics , geometry , quantum mechanics , economics , programming language , economic growth

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.

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