Timm Faulwasser

Optimization-based Solutions to Constrained Trajectory-tracking and Path-following Problems


Front	Back

ISBN:

978-3-8440-1594-2

Series:

Contributions in Systems Theory and Automatic Control, Otto-von-Guericke-Universität Magdeburg
Herausgeber: Otto-von-Guericke Universität Magdeburg and Institut für Automatisierungstechnik
Magdeburg

Volume:

Keywords:

Regelungstechnik; prädiktive Regelung; Pfadverfolgung; nonlinear model predictive control; path following; trajectory tracking

Type of publication:

Thesis

Language:

English

Pages:

184 pages

Figures:

23 figures

Weight:

272 g

Format:

21 x 14,8 cm

Bindung:

Paperback

Price:

35,80 € / 44,75 SFr

Published:

January 2013

Buy:

DOI:

10.2370/9783844015942 (Online document)

Download:

Available PDF-Files for this title:

You need the Adobe Reader, to open the files. Here you get help and information, for the download.

These files are not printable.


	Document		Document
	Type		PDF
	Costs		8,94 EUR
	Action		Purchase in obligation and display of file - 1,6 MB (1719180 Byte)
	Action		Purchase in obligation and download of file - 1,6 MB (1719180 Byte)


	Document		Table of contents
	Type		PDF
	Costs		free
	Action		Diplay of file - 56 kB (57434 Byte)
	Action		Download of file - 56 kB (57434 Byte)

User settings for registered users

You can change your address here or download your paid documents again.

User:	Not logged in.
Actions:	Login / Register Forgotten your password?

Recommendation:

You want to recommend this title?

Review copy

Here you can order a review copy.

Link

You want to link this page? Click here.

Abstract

The prototypical problem in control theory is the stabilization of a set point. When, instead of a set point, a time-varying reference needs to be stabilized, then the problem is called trajectory tracking. Typical examples of trajectory-tracking problems are set point changes along precomputed references, synchronization tasks or startup of processes. While stabilization and trajectory tracking are well-understood for a wide range of systems, not all control tasks arising in practice belong to these categories. In robotics, for example, it is frequently required to move a robot along a geometric curve without any preassigned timing information. In other words, the speed to move along the curve is a degree of freedom. Such problems are called path-following problems. This book deals with nonlinear model predictive control (NMPC) for constrained trajectory-tracking and path-following problems. Based on a detailed problem analysis a framework to tackle these problems is developed. Examples from robotics and chemical engineering are used to illustrate the results. The main concerns of this book are twofold: On the one hand, it is shown that nonlinear model predictive control is very well applicable to problems beyond set point stabilization. On the other hand, it is demonstrated that path-following concepts provide a suitable framework for many challenging control problems ranging from robotics to chemical engineering.