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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.
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Submitted on : Wednesday, July 11, 2012 - 11:03:27 AM
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  • HAL Id : hal-00716744, version 1

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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. ⟨hal-00716744⟩

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