In this paper, output tracking of a geometric path for a nonlinear uncertain system with input and state constraints is considered. We propose an enhanced two-loop model predictive control approach for output tracking of a nonlinear uncertain system. Additionally, we propose an optimal version of output path following control problem to improve the controller synthesis. Satisfaction of the dynamical constraints of a system such as velocity, acceleration and jerk limitations is added to the problem introducing a new augmented system. The recursive feasibility of the proposed method is demonstrated, and its robust stability is guaranteed such that relaxation on the terminal constraint and penalty are achieved. To validate the theoretical benefits of the proposed controller, it is simulated on a SCARA robot manipulator and the results are compared with a two-loop model predictive controller successfully.

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