# Nonlinear Model Predictive Control for Constrained Output Path Following

arXiv: https://arxiv.org/abs/1502.02468 · HTML: https://mlsanity.com/paper/1502.02468/

## Key facts

- Cited by 2 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 9 Feb 2015.

## Built on by (most cited first, 2 of 2)

- [Safe Machine-Learning-supported Model Predictive Force and Motion Control in Robotics](https://mlsanity.com/paper/2303.04569/) (2023)
- [Online Efficient Safety-Critical Control for Mobile Robots in Unknown Dynamic Multi-Obstacle Environments](https://mlsanity.com/paper/2402.16449/) (2024)

## Abstract (arXiv)

We consider the tracking of geometric paths in output spaces of nonlinear systems subject to input and state constraints without pre-specified timing requirements. Such problems are commonly referred to as constrained output path-following problems. Specifically, we propose a predictive control approach to constrained path-following problems with and without velocity assignments and provide sufficient convergence conditions based on terminal regions and end penalties. Furthermore, we analyze the geometric nature of constrained output path-following problems and thereby provide insight into the computation of suitable terminal control laws and terminal regions. We draw upon an example from robotics to illustrate our findings.