Preview based path-following in the presence of input constraints

We develop an algorithm for the design of path-following feedback laws for a feedback linearizable nonlinear systems with input constraints. Our main contribution is a preview based feedback law for the path parameter, which reduces the time necessary to traverse a given interval of the path. In contrast to the time-optimal solution, we require only limited knowledge of the path in the future. We illustrate the proposed algorithm on two examples and compare its performance with the time-optimal solution