Zieger, Tim ; Holzmann, Philipp ; Bethge, Johanna ; Oehlschlägel, Thimo ; Findeisen, Rolf (2023)
Rigid-Tube Nonlinear Model Predictive Control for Path Following.
In: IFAC-PapersOnLine, 56 (2)
doi: 10.1016/j.ifacol.2023.10.1172
Artikel, Bibliographie
Kurzbeschreibung (Abstract)
While rigid-tube model predictive control introduces robustness with respect to bounded uncertainty, its application to reference tracking may result in poor control performance due to improper reference-trajectory design or disturbances. To circumvent this, the combination of path-following and rigid-tube model predictive control is proposed for systems that require merely a geometric transition without an additional time specification. Therefore, we present results on how to combine rigid-tube model predictive control and path-following. Furthermore, we show for a nonlinear system that the proposed control method steers the system, subject to disturbances, to a robust positive invariant set around the path, while repeated feasibility, stability, and convergence can be guaranteed under mild assumptions. Moreover, the effectiveness and gained flexibility of the predictive controller in handling disturbances is demonstrated in a simulation example considering an autonomous mobile robot.
| Typ des Eintrags: | Artikel |
|---|---|
| Erschienen: | 2023 |
| Autor(en): | Zieger, Tim ; Holzmann, Philipp ; Bethge, Johanna ; Oehlschlägel, Thimo ; Findeisen, Rolf |
| Art des Eintrags: | Bibliographie |
| Titel: | Rigid-Tube Nonlinear Model Predictive Control for Path Following |
| Sprache: | Englisch |
| Publikationsjahr: | 2023 |
| Verlag: | Elsevier |
| Titel der Zeitschrift, Zeitung oder Schriftenreihe: | IFAC-PapersOnLine |
| Jahrgang/Volume einer Zeitschrift: | 56 |
| (Heft-)Nummer: | 2 |
| Buchtitel: | IFAC-PapersOnLine |
| DOI: | 10.1016/j.ifacol.2023.10.1172 |
| Kurzbeschreibung (Abstract): | While rigid-tube model predictive control introduces robustness with respect to bounded uncertainty, its application to reference tracking may result in poor control performance due to improper reference-trajectory design or disturbances. To circumvent this, the combination of path-following and rigid-tube model predictive control is proposed for systems that require merely a geometric transition without an additional time specification. Therefore, we present results on how to combine rigid-tube model predictive control and path-following. Furthermore, we show for a nonlinear system that the proposed control method steers the system, subject to disturbances, to a robust positive invariant set around the path, while repeated feasibility, stability, and convergence can be guaranteed under mild assumptions. Moreover, the effectiveness and gained flexibility of the predictive controller in handling disturbances is demonstrated in a simulation example considering an autonomous mobile robot. |
| Zusätzliche Informationen: | Issue to the 22nd IFAC World Congress 2023, Yokohama, Japan, 09.07. - 14.07.2023 |
| Fachbereich(e)/-gebiet(e): | 18 Fachbereich Elektrotechnik und Informationstechnik 18 Fachbereich Elektrotechnik und Informationstechnik > Institut für Automatisierungstechnik und Mechatronik 18 Fachbereich Elektrotechnik und Informationstechnik > Institut für Automatisierungstechnik und Mechatronik > Control and Cyber-Physical Systems (CCPS) |
| Hinterlegungsdatum: | 25 Jan 2024 14:08 |
| Letzte Änderung: | 25 Jan 2024 14:08 |
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