Path-following for nonminimum phase systems removes performance limitations

Aguiar, A. Pedro; Hespanha, João P.; Kokotović, P.V.

doi:10.1109/tac.2004.841924

Cited by 181 publications

(144 citation statements)

References 22 publications

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“…[1,6]. We use this freedom of choosing t → θ(t) to rigorously ensure the satisfaction of state and input constraints.…”

Section: Reformulation As Path-following Problemmentioning

confidence: 99%

Constrained reachability and trajectory generation for flat systems

Faulwasser¹,

Hagenmeyer²,

Findeisen³

2014

Automatica

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We consider the problem of trajectory generation for constrained differentially flat systems. Based on the topological properties of the set of admissible steady state values of a flat output we derive conditions which allow for an a priori verification of the feasibility of constrained set-point changes. We propose to utilize this relation to generate feasible trajectories. To this end we suggest to split the trajectory generation problem into two stages: (a) the planning of geometric reference paths in the flat output space combined with (b) an assignment of a dynamic motion to these paths. This assignment is based on a reduced optimal control problem. The unique feature of the approach is that due to the specific construction of the paths the optimal control problem to be solved is guaranteed to be feasible. To illustrate our results we consider a Van de Vusse reactor as an example.

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“…[1,6]. We use this freedom of choosing t → θ(t) to rigorously ensure the satisfaction of state and input constraints.…”

Section: Reformulation As Path-following Problemmentioning

confidence: 99%

Constrained reachability and trajectory generation for flat systems

Faulwasser¹,

Hagenmeyer²,

Findeisen³

2014

Automatica

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“…Corridor Path-Following Problem Given a system subject to input and state constraints (1), design a controller to satisfy the following: E1 Path convergence: The system movement through the state space converges to the path corridor P k . Hence …”

Section: Corridor Path-followingmentioning

confidence: 99%

“…Recently, path-following has been proposed to provide an alternative problem formulation to trajectory tracking [1], [2]. While in tracking problems the reference trajectory defines when the system should be where in the state space the main idea of path-following is different: Design a controller, that affects both the system as well as the timing when to be where on a reference path.…”

Section: Introductionmentioning

confidence: 99%

“…Existing path-following approaches are limited, since input constraints are not explicitly considered [1], [2], [13]. In this contribution we propose a solution to the path-following problem for nonlinear systems subject to constraints on inputs and states.…”

Section: Introductionmentioning

confidence: 99%

“…We also give sufficient stability conditions. While other works on path-following consider output-feedback [1], [2], [13], we rely on state feedback. In Section IV we illustrate our scheme by simulations of an autonomous vehicle.…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Model predictive path-following for constrained nonlinear systems

Faulwasser

Kern

Findeisen

2009

Proceedings of the 48h IEEE Conference on Decision and Control (CDC) Held Jointly With 2009 28th Chinese Control Conference

100

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Abstract-We propose a model predictive control approach to path-following problems of constrained nonlinear systems. We directly consider input and state constraints. Furthermore, we introduce an extended corridor path-following problem, which allows to add spatial degrees of freedom to the path formulation. We give sufficient stability conditions for predictive solutions to 1d and corridor path-following problems. To illustrate the performance of our approach we discuss the example of an autonomous vehicle subject to input constraints.Index Terms-Nonlinear model predictive control, corridor path-following, input and state constraints, stability.

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Embedded UAS Autopilot and Sensor Systems

Beard

2010

Encyclopedia of Aerospace Engineering

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This objective of this article is to give an overview of autopilot software design for small and miniature unmanned air systems. An architecture that is typical of commercially available autopilots is described. A detailed explanation of the inner-loop control structure is described, including the lateral directional feedback loops and the longitudinal directional feedback loops. We give a brief description of the sensor package that is usually on small UAS, and describe simple filtering schemes for extracting estimates of the states needed by the autopilot. Finally, we briefly describe GPS navigation for following straight lines and orbits.

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Path-following for nonminimum phase systems removes performance limitations

Cited by 181 publications

References 22 publications

Constrained reachability and trajectory generation for flat systems

Constrained reachability and trajectory generation for flat systems

Model predictive path-following for constrained nonlinear systems

Embedded UAS Autopilot and Sensor Systems

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