Publication
We address the problem of steering the output of a nonlinear system along a given parametrized reference path, taking input and state constraints into account. Such problems are known as output path-following problems, which typically arise in vehicle and robot control and also in process control. We propose an efficient, continuous time, sampled-data state feedback, predictive control scheme which guarantees convergence to an output path in the presence of state and input constraints.
Dario Floreano, Valentin Wüest, Davide Scaramuzza
Danilo Saccani, Melanie Nicole Zeilinger