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Chapitre D'ouvrage Année : 2006

Re injecting the structure in NMPC schemes. Application to the constrained stabilization of a snake board

Résumé

In this paper, a constrained nonlinear predictive control scheme is proposed for a class of under-actuated nonholonomic systems. The scheme is based on fast generation of steering trajectories that inherently fulfill the contraints while showing a ""{\em translatability}"" property which is generally needed to derive stability results in receding-horizon schemes. The corresponding open-loop optimization problem can be solved very efficiently with a fixed and deterministic upper bound on the execution time making possible a real-time implementation on fast systems. The whole framework is shown to hold for the well known challenging problem of a snake board constrained stabilization. Illustrative simulations are proposed to assess the efficiency of the proposed solution.
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Dates et versions

hal-00083371 , version 1 (30-06-2006)

Identifiants

  • HAL Id : hal-00083371 , version 1

Citer

Mazen Alamir, Frédéric Boyer. Re injecting the structure in NMPC schemes. Application to the constrained stabilization of a snake board. Diehl M. ; Mombaur K. (Eds.). Fast Motions in Biomechanics and Robotics : Optimization and Feedback Control, Springer Verlag, 2006, Series: Lecture Notes in Control and Information Sciences LNCIS Vol. 340. ISBN: 978-3-540-36118-3. ⟨hal-00083371⟩
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