A Flatness-Based Iterative Method for Reference Trajectory Generation in Constrained NMPC

J.A. de Dona (1, 2) , F. Suryawan (1) , Seron M.M. (1) , Jean Lévine (2)

1 School of Electrical Engineering and Computer Science
2 CAS - Centre Automatique et Systèmes

This paper proposes a novel methodology that combines the differential flatness formalism for trajectory generation of nonlinear systems, and the use of a model predictive control (MPC) strategy for constraint handling. The methodology consists of a trajectory generator that generates a reference trajectory parameterised by splines, and with the property that it satisfies performance objectives. The reference trajectory is generated iteratively in accordance with information received from the MPC formulation. This interplay with MPC guarantees that the trajectory generator receives feedback from present and future constraints for real-time trajectory generation.

Mots clés: flatness; trajectory generation; B-splines; Nonlinear MPC

Domaines: Automatique / Robotique

J.A. de Dona, F. Suryawan, Seron M.M., Jean Lévine. A Flatness-Based Iterative Method for Reference Trajectory Generation in Constrained NMPC. NONLINEAR MODEL PREDICTIVE CONTROL, Springer Verlag, pp.325-333, 2009, ⟨10.1007/978-3-642-01094-1_27⟩. ⟨hal-00575181⟩