Nonlinear Predictive Control for Trajectory Tracking and Path Following: An Introduction and Perspective

Matschek, Janine; Bäthge, Tobias; Faulwasser, Timm; Findeisen, Rolf

doi:10.1007/978-3-319-77489-3_8

by Janine Matschek, Tobias Bäthge, Timm Faulwasser, Rolf Findeisen

Abstract:

Control tasks in various applications are posed as setpoint-stabilization problems, where a constant reference has to be stabilized. For systems where changing references are given, formulations for tracking of a time-dependent trajectory or for following a geometric path are more suitable. In other cases, no clear reference is given, but only optimal economic behavior is desired. We outline how these control goals can be captured and embedded in a model predictive control design and provide theoretic formulations. We compare trajectory tracking and path following in a realistic robot simulation example to highlight that it is important for an engineer to choose the appropriate formulation of the control task at hand.

View PDF

Reference:

Nonlinear Predictive Control for Trajectory Tracking and Path Following: An Introduction and Perspective (Janine Matschek, Tobias Bäthge, Timm Faulwasser, Rolf Findeisen), Chapter in Handbook of Model Predictive Control (Saša V. Raković, William S. Levine, eds.), Springer International Publishing, 2019.

Bibtex Entry:

@incollection{matschek_nonlinear_2019,
	address = {Cham},
	title = {Nonlinear {Predictive} {Control} for {Trajectory} {Tracking} and {Path} {Following}: {An} {Introduction} and {Perspective}},
	isbn = {978-3-319-77489-3},
	url = {https://doi.org/10.1007/978-3-319-77489-3_8},
	abstract = {Control tasks in various applications are posed as setpoint-stabilization problems, where a constant reference has to be stabilized. For systems where changing references are given, formulations for tracking of a time-dependent trajectory or for following a geometric path are more suitable. In other cases, no clear reference is given, but only optimal economic behavior is desired. We outline how these control goals can be captured and embedded in a model predictive control design and provide theoretic formulations. We compare trajectory tracking and path following in a realistic robot simulation example to highlight that it is important for an engineer to choose the appropriate formulation of the control task at hand.},
	booktitle = {Handbook of {Model} {Predictive} {Control}},
	publisher = {Springer International Publishing},
	author = {Matschek, Janine and Bäthge, Tobias and Faulwasser, Timm and Findeisen, Rolf},
	editor = {Raković, Saša V. and Levine, William S.},
	year = {2019},
	doi = {10.1007/978-3-319-77489-3_8},
	pages = {169--198}
}