@prefix dcat: <http://www.w3.org/ns/dcat#> .
@prefix dct: <http://purl.org/dc/terms/> .
@prefix foaf: <http://xmlns.com/foaf/0.1/> .
@prefix vcard: <http://www.w3.org/2006/vcard/ns#> .
@prefix xsd: <http://www.w3.org/2001/XMLSchema#> .

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              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.
            """ ;
    dct:identifier "hal-00083371" ;
    dct:issued "2026-05-10T17:54:49.435824"^^xsd:dateTime ;
    dct:language "en" ;
    dct:modified "2026-05-10T17:54:49.435828"^^xsd:dateTime ;
    dct:publisher <https://rec.harvest-normandie.data4citizen.com/organization/cce9db95-46d9-4dc2-84b6-764215d0a002> ;
    dct:title "Re injecting the structure in NMPC schemes. Application to the constrained stabilization of a snake board" ;
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            vcard:fn "CCSD" ] ;
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    dcat:keyword "book-sections",
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        "infoeu-reposemanticsbookpart",
        "nonholonomic-systems",
        "path-planning",
        "snake-board",
        "spiotherengineering-sciences-physicsother",
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    dcat:landingPage <Fast%20Motions%20in%20Biomechanics%20and%20Robotics%20:%20Optimization%20and%20Feedback%20Control> .

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    dct:issued "2026-05-10T17:54:49.437012"^^xsd:dateTime ;
    dct:modified "2026-05-10T17:54:49.425358"^^xsd:dateTime ;
    dct:title "Re injecting the structure in NMPC schemes. Application to the constrained stabilization of a snake board" ;
    dcat:accessURL <https://hal.science/hal-00083371> .

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