A flatness-based iterative method for reference trajectory generation in constrained NMPC

Title: A flatness-based iterative method for reference trajectory generation in constrained NMPC
Creator: De Doná, J. A.; Suryawan, F.; Seron, M. M.; Lévine, J.
Relation: Nonlinear Model Predictive Control: Towards New Challenging Applications p. 325-333
Relation: Lecture Notes in Control and Information Sciences 384
Publisher Link: http://dx.doi.org/10.1007/978-3-642-01094-1_27
Publisher: Springer Verlag
Resource Type: book chapter
Date: 2009
Description: This paper proposes a novel methodology that combines the differential flatness formalism for trajectory generation of nonlinear systems, and the use of a model predictive control (MPC) strategy for constraint handling. The methodology consists of a trajectory generator that generates a reference trajectory parameterised by splines, and with the property that it satisfies performance objectives. The reference trajectory is generated iteratively in accordance with information received from the MPC formulation. This interplay with MPC guarantees that the trajectory generator receives feedback from present and future constraints for real-time trajectory generation.
Subject: flatness; trajectory generation; B-splines; nonlinear MPC
Identifier: http://hdl.handle.net/1959.13/917976
Identifier: uon:8473
Identifier: ISBN:9783642010934
Rights: The original publication is available at www.springerlink.com
Language: eng
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