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

• Type: Article in International Conference Proceedings Book
• Date: 2018

Authors

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

Conference proceedings International

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

Pages: 1-10

AIAA Information Systems-AIAA Infotech at Aerospace, 2018

8 January 2018 through 12 January 2018

Indexing

Scopus - 7 Citations

INSPEC

Other information

Authenticus ID: 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.

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 10