@article{faulwasser_implementation_2017,
	title = {Implementation of {Nonlinear} {Model} {Predictive} {Path}-{Following} {Control} for an {Industrial} {Robot}},
	volume = {25},
	issn = {1063-6536},
	doi = {10.1109/TCST.2016.2601624},
	abstract = {Many robotic applications, such as milling, gluing, or high precision measurements, require the precise following of a predefined geometric path. We investigate the real-time feasible implementation of model predictive path-following control for an industrial robot. We consider constrained output path following with and without reference speed assignment. Finally, we present the results of an implementation of the proposed model predictive path-following controller on a KUKA LWR IV robot.},
	number = {4},
	journal = {IEEE Transactions on Control Systems Technology},
	author = {Faulwasser, Timm and Weber, Tobias and Zometa, Juan Pablo and Findeisen, Rolf},
	month = jul,
	year = {2017},
	keywords = {Constraints, geometry, industrial robot, industrial robots, KUKA LWR IV, KUKA LWR IV robot, nonlinear control systems, nonlinear model predictive control (NMPC), nonlinear model predictive path-following control, optimal control, path following, path planning, precise following, predefined geometric path, predictive control, Predictive models, real-time feasible implementation, reference speed assignment, robotic applications, Service robots, Timing, tracking, Trajectory, velocity control},
	pages = {1505--1511}
}