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Université d'Orléans |  |
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Université d'Orléans | |
| HAL : hal-00716744, version 1 |
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| American Control Conference (ACC12), Montreal : Canada (2012) |
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| Choice of the control horizon in an NMPC strategy for the full-state control of nonholonomic systems |
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| Matthieu Fruchard 1Guillaume Allibert 2 |
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| (28/06/2012) |
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| 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. |
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| 1 : | Laboratoire PRISME (PRISME) |
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Université d'Orléans : EA4229 – ENSI Bourges |
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| 2 : | Laboratoire d'Informatique, Signaux, et Systèmes de Sophia-Antipolis (I3S) / Equipe SYSTEMES |
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Université Nice Sophia Antipolis [UNS] – CNRS : UMR7271 |
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| Pôle IRAuS |
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| Domaine | : | Sciences de l'ingénieur/Automatique / Robotique |
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| Liste des fichiers attachés à ce document : | |||||
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| hal-00716744, version 1 | |
| http://hal.archives-ouvertes.fr/hal-00716744 | |
| oai:hal.archives-ouvertes.fr:hal-00716744 | |
| Contributeur : Guillaume Allibert | |
| Soumis le : Mercredi 11 Juillet 2012, 11:03:27 | |
| Dernière modification le : Mercredi 11 Juillet 2012, 13:44:05 | |
