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• W1724370735 abstract "We consider the tracking of geometric paths in output spaces of nonlinear systems subject to input and state constraints without pre-specified timing requirements. Such problems are 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 and provide 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." @default.
• W1724370735 created "2016-06-24" @default.
• W1724370735 creator A5040485515 @default.
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• W1724370735 date "2016-04-01" @default.
• W1724370735 modified "2023-10-18" @default.
• W1724370735 title "Nonlinear Model Predictive Control for Constrained Output Path Following" @default.
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• W1724370735 doi "https://doi.org/10.1109/tac.2015.2466911" @default.
• W1724370735 hasPublicationYear "2016" @default.
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