Moving path following control of constrained underactuated vehicles: A nonlinear model predictive control approach

• Tipo: Artigo em Livro de Atas de Conferência Internacional
• Data: 2018

Autores

R. Praveen Jain (Autor) Outra; Andrea Alessandretti (Autor) Outra; António Pedro Aguiar (Autor) FEUP; João Borges de Sousa (Autor) Outra

Ata de Conferência Internacional

Título: AIAA Information Systems-AIAA Infotech at Aerospace, 2018

Páginas: 1-10

AIAA Information Systems-AIAA Infotech at Aerospace, 2018

8 January 2018 through 12 January 2018

Indexação

Scopus - 7 Citações

INSPEC

Outras Informações

ID Authenticus: P-00N-T0N

DOI: 10.2514/6.2018-0509

Abstract (EN): This paper addresses the design of a stabilizing continuous time sampled-data Nonlinear Model Predictive Control (NMPC) law to solve the Moving Path Following (MPF) motion control problem for constrained under-actuated robotic vehicles. In this scenario, the robotic vehicle is tasked to converge to a desired geometric path, expressed with respect to a moving frame of reference, while satisfying the actuation constraints. This control problem is addressed in the NMPC framework. Specifically, first a suboptimal Lyapunov-based nonlinear auxiliary control law is designed to solve the MPF problem. Then, the latter is used for the design of a suitable terminal set and terminal cost of the MPC controller to enforce closed-loop guarantees. Exploiting the properties of the auxiliary control law, we show that for a suitable selection of the input constraints, the terminal set can be removed, resulting in a global region of attraction of the proposed controller. Simulation results are provided to illustrate the proposed control strategy. © 2018 by Antonio Pedro Aguiar. Published by the American Institute of Aeronautics and Astronautics, Inc., with permission.

Idioma: Inglês

Tipo (Avaliação Docente): Científica

Nº de páginas: 10