Re injecting the structure in NMPC schemes. Application to the constrained stabilization of a snake board
type: Dataset
description: In this paper, a constrained nonlinear predictive control scheme is proposed for a class of under-actuated nonholonomic systems. The scheme is based on fast generation of steering trajectories that inherently fulfill the contraints while showing a ""{\em translatability}"" property which is generally needed to derive stability results in receding-horizon schemes. The corresponding open-loop optimization problem can be solved very efficiently with a fixed and deterministic upper bound on the execution time making possible a real-time implementation on fast systems. The whole framework is shown to hold for the well known challenging problem of a snake board constrained stabilization. Illustrative simulations are proposed to assess the efficiency of the proposed solution.
issued: 2026-05-10T17:54:49.435824
language: en
modified: 2026-05-10T17:54:49.435828
contact point: Organization
  fn: CCSD
keyword: book-sections
keyword: constrained-nonlinear-predictive-control
keyword: infoeu-reposemanticsbookpart
keyword: nonholonomic-systems
keyword: path-planning
keyword: snake-board
keyword: spiotherengineering-sciences-physicsother
keyword: under-actuated-mechanical-systems
landing page: Optimization and Feedback Control

Re injecting the structure in NMPC schemes. Application to the constrained stabilization of a snake board
type: Distribution
format: HTML
issued: 2026-05-10T17:54:49.437012
modified: 2026-05-10T17:54:49.425358
access URL: https://hal.science/hal-00083371

test_moissonnage_selune
type: Agent