Trajectory-tracking and Path-following Controllers for Constrained Underactuated Vehicles using Model Predictive Control

• Type: Article in International Conference Proceedings Book
• Date: 2013

Authors

Andrea Alessandretti (Author) Other; Pedro P Aguiar (Author) FEUP; Colin N Jones (Author) Other

Conference proceedings International

Title: 2013 EUROPEAN CONTROL CONFERENCE (ECC)

Pages: 1371-1376

European Control Conference (ECC)

Zurich, SWITZERLAND, JUL 17-19, 2013

Indexing

ISI Web of Knowledge - 32 Citations

Scopus - 47 Citations

Scientific classification

FOS: Engineering and technology > Electrical engineering, Electronic engineering, Information engineering

Other information

Authenticus ID: P-009-3YP

DOI: 10.23919/ecc.2013.6669717

Abstract (EN): This paper addresses the design of Model Predictive Control (MPC) laws to solve the trajectory-tracking problem and the path-following problem for constrained under-actuated vehicles. By allowing an arbitrarily small asymptotic tracking error, we derive MPC laws where the size of the terminal set is only limited by the size of the system constraints. In fact, for the case of unconstrained inputs, the terminal set can be neglected and the resulting MPC controllers provide a global solution to the addressed constrained motion control problems. Simulation results are presented where the proposed MPC controllers are applied to 2-D and to 3-D moving vehicles.

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 6