Abstract
We consider model predictive path-following control (MPFC) without stabilizing terminal constraints or costs. We investigate sufficient stability conditions in the framework of cost controllability. Then, we analyze cost controllability for path-following problems of differentially flat systems. Using this result, we establish that under suitable assumptions MPFC without terminal constraints or penalties leads to asymptotic stability provided the prediction horizon is sufficiently long. Further, the proposed methodology allows to quantify a stabilizing prediction horizon. We illustrate our findings considering a robotic manipulator example. We explicitly verify cost controllability and conduct numerical experiments.
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