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Paper TuA03.5

Courtial, Estelle (Laboratory PRISME), Fruchard, Matthieu (University of Orleans), Allibert, Guillaume (I3S)

Predictive Control of Chained Systems: A Necessary Condition on the Control Horizon

Scheduled for presentation during the Regular Session "Learning and Adaptive Control of Robotic Systems I" (TuA03), Tuesday, May 15, 2012, 09:30−09:45, Meeting Room 3 (Mak'to)

2012 IEEE International Conference on Robotics and Automation, May 14-18, 2012, RiverCentre, Saint Paul, Minnesota, USA

This information is tentative and subject to change. Compiled on December 11, 2017

Keywords Wheeled Robots

Abstract

This paper deals with state feedback control of chained systems based on a Nonlinear Model Predictive Control (NMPC) strategy. Chained systems can model many common nonholonomic vehicles. We establish a relation between the degree of nonholonomy and the minimum length of the control horizon so as to make the NMPC feasible. A necessary condition on the control horizon of NMPC is given and theoretically proved whatever the dimension of the chained system consid- ered. This relation is used to design a NMPC-based control strategy for chained systems. One of the advantages of NMPC is the capability of taking into account the constraints on state and on control variables. The theoretical results are illustrated through simulations on a (2,5) chained system, describing a car-like vehicle with one trailer. Difficult motion objectives that require a lateral displacement are considered.

 

 

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