Ein prädiktiver Ansatz zur Lösung nichtlinearer Pfadverfolgungsprobleme unter Beschränkungen (A Predictive Solution to Nonlinear Path-Following Problems Subject to Constraints)

A model predic-tive control scheme to solve path-following problems for nonlinear systems subject to input and state constraints is proposed. Sufficient conditions which guarantee the stability of the proposed scheme are derived. Furthermore, it is discussed how additional degrees of freedom in the path description can be formulated in an extended path-following setup. The presented schemes are exemplified by simulations of a vehicle.