Abstract
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 “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 making possible a real-time implementation on fast systems (The resulting optimization problem is roughly scalar). The whole framework is shown to hold for the well known challenging problem of a snakeboard constrained stabilization. Illustrative simulations are proposed to assess the efficiency of the proposed solution under saturation constraints and model uncertainties.
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© 2006 Springer
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Alamir, M., Boyer, F. (2006). Re-injecting the Structure in NMPC Schemes Application to the Constrained Stabilization of a Snakeboard. In: Diehl, M., Mombaur, K. (eds) Fast Motions in Biomechanics and Robotics. Lecture Notes in Control and Information Sciences, vol 340. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-36119-0_1
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DOI: https://doi.org/10.1007/978-3-540-36119-0_1
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-36118-3
Online ISBN: 978-3-540-36119-0
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