MPC for Tracking Periodic References

In this technical note, a new model predictive controller for tracking arbitrary periodic references is presented. The proposed controller is based on a single layer that unites dynamic trajectory planning and control. A design procedure to guarantee that the closed loop system converges asymptotica...

Full description

Saved in:
Bibliographic Details
Published in:IEEE transactions on automatic control 2016-04, Vol.61 (4), p.1123-1128
Main Authors: Limon, Daniel, Pereira, Mario, Muñoz de la Peña, David, Alamo, Teodoro, Jones, Colin N., Zeilinger, Melanie N.
Format: Article
Language:English
Subjects:
Asymptotic properties
Asymptotic stability
Closed loop systems
Controllers
Dynamical systems
Dynamics
Mathematical models
Optimization
periodic references
Predictive control
Simulation
stability
Stability analysis
Target tracking
Tracking
Trajectory
Citations: Items that this one cites
Items that cite this one
Online Access:Get full text
Tags: Add Tag
No Tags, Be the first to tag this record!
Description
Summary:In this technical note, a new model predictive controller for tracking arbitrary periodic references is presented. The proposed controller is based on a single layer that unites dynamic trajectory planning and control. A design procedure to guarantee that the closed loop system converges asymptotically to the optimal admissible periodic trajectory while guaranteeing constraint satisfaction is provided. In addition, the constraints of the optimization problem solved by the controller do not depend on the reference, allowing for sudden changes in the reference without loosing feasibility. The properties of the proposed controller are demonstrated with a simulation example of a ball and plate system.
ISSN:0018-9286
1558-2523
DOI:10.1109/TAC.2015.2461811