Trajectory-tracking and Path-following Controllers for Constrained Underactuated Vehicles using Model Predictive Control
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The adoption of stricter effluent requirements by the European Union rises large problems for small communities having few economical and technical resources. These problems motivate the synthesis of advanced optimisation-based controllers in order to enha ...
Institut National Polytechnique de Lorraine (INPL)2001
Closed-form Model Predictive Control (MPC) results in a polytopic subdivision of the set of feasible states, where each region is associated with an affine control law. Solving the MPC problem on-line then requires determining which region contains the cur ...
