Model Predictive Path-Following for Constrained Differentially Flat Systems
Melissa Greeff,
Angela P. Schoellig
Abstract:For many tasks, predictive path-following control can significantly improve the performance and robustness of autonomous robots over traditional trajectory tracking control. It does this by prioritizing closeness to the path over timed progress along the path and by looking ahead to account for changes in the path. We propose a novel predictive pathfollowing approach that couples feedforward linearization with path-based model predictive control. Our approach has a few key advantages. By utilizing the differen… Show more
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