Nonlinear Model Predictive Control for Constrained Output Path Following

TL;DR

This paper introduces a nonlinear model predictive control method for constrained output path following in nonlinear systems, addressing timing constraints and providing convergence analysis with robotic examples.

Contribution

It presents a novel predictive control approach for constrained path following, including convergence conditions and geometric analysis insights.

Findings

Proposed a predictive control scheme for constrained path following.

Derived sufficient conditions for convergence based on terminal regions.

Illustrated the approach with a robotics example.

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.