A flatness-based iterative method for reference trajectory generation in constrainedNMPC

Lecture Notes in Control and Information Sciences

Volumn 384, Issue , 2009, Pages 325-333

  De Dona J A ^a,b   Suryawan, F ^a   Seron, M M ^a   Levine J ^b  

^a UNIVERSITY OF NEWCASTLE   (Australia)

^b INSTITUTE OF GEOLOGY AND GEOPHYSICS   (China)

Author keywords

B splines; Flatness; Nonlinear MPC; Trajectory generation

Indexed keywords

B-SPLINES; CONSTRAINT HANDLING; DIFFERENTIAL FLATNESS; FLATNESS; NONLINEAR MPC; NOVEL METHODOLOGY; PERFORMANCE OBJECTIVE; REAL TIME TRAJECTORY GENERATION; REFERENCE TRAJECTORIES; TRAJECTORY GENERATION; TRAJECTORY GENERATOR;

NAVIGATION; NONLINEAR SYSTEMS; PREDICTIVE CONTROL SYSTEMS; SPLINES; TRAJECTORIES;

MODEL PREDICTIVE CONTROL;

EID: 66749131893     PISSN: 01708643     EISSN: None     Source Type: Book Series    
DOI: 10.1007/978-3-642-01094-1_27     Document Type: Conference Paper

References (4)

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3. Flores, M.E., Milam, M.B.: Trajectory generation for differentially flat systems via NURBS basis functions with obstacle avoidance. In: 2006 American Control Conference, Minneapolis, USA (2006)
4. Goodwin, G.C., Seron, M., De Doná, J.A.: Constrained Control and Estimation: An Optimisation Approach. Communications and Control Engineering Series. Springer, Heidelberg (2005)