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American Control Conference (ACC12), Montreal : Canada (2012)

Choice of the control horizon in an NMPC strategy for the full-state control of nonholonomic systems

Matthieu Fruchard 1, Guillaume Allibert 2, Estelle Courtial 1

(28/06/2012)

This paper addresses the choice of the control horizon in a Nonlinear Model Predictive Control (NMPC) strat- egy for nonholonomic vehicles. The latter can be modeled by chained systems. We establish a relation between the degree of nonholonomy and the minimum length of the control horizon so as to make the full-state control possible. A necessary condition on the control horizon of NMPC is given and theoretically proved whatever the dimension of the chained system consid- ered. 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, as well as robustness to modeling errors.

1 :	Laboratoire PRISME (PRISME)
	Université d'Orléans : EA4229 – ENSI Bourges
2 :	Laboratoire d'Informatique, Signaux, et Systèmes de Sophia-Antipolis (I3S) / Equipe SYSTEMES
	Université Nice Sophia Antipolis [UNS] – CNRS : UMR7271

Équipe de recherche : Pôle IRAuS

Domaine

:

Sciences de l'ingénieur/Automatique / Robotique

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Contributeur : Guillaume Allibert <>

Soumis le : Mercredi 11 Juillet 2012, 11:03:27

Dernière modification le : Mercredi 11 Juillet 2012, 13:44:05