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
1 Pôle IRAuS, Autom
PRISME - Laboratoire Pluridisciplinaire de Recherche en Ingénierie des Systèmes, Mécanique et Energétique
Abstract : 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.
Type de document :
Communication dans un congrès
American Control Conference (ACC12), 2012, Montreal, Canada. pp.4149-4154, 2012
Liste complète des métadonnées


https://hal.archives-ouvertes.fr/hal-00716744
Contributeur : Guillaume Allibert <>
Soumis le : mercredi 11 juillet 2012 - 11:03:27
Dernière modification le : lundi 21 mars 2016 - 17:48:44
Document(s) archivé(s) le : vendredi 12 octobre 2012 - 02:30:53

Fichier

ACC2012_VFinale.pdf
Fichiers produits par l'(les) auteur(s)

Identifiants

  • HAL Id : hal-00716744, version 1

Collections

Citation

Matthieu Fruchard, Guillaume Allibert, Estelle Courtial. Choice of the control horizon in an NMPC strategy for the full-state control of nonholonomic systems. American Control Conference (ACC12), 2012, Montreal, Canada. pp.4149-4154, 2012. <hal-00716744>

Partager

Métriques

Consultations de
la notice

293

Téléchargements du document

73