Artículo
MPC for Tracking Periodic References
Autor/es | Limón Marruedo, Daniel
Pereira Martín, Mario Muñoz de la Peña Sequedo, David Alamo, Teodoro Jones, Colin N. Zeilinger, Melanie N. |
Departamento | Universidad de Sevilla. Departamento de Ingeniería de Sistemas y Automática |
Fecha de publicación | 2016-04 |
Fecha de depósito | 2022-02-15 |
Publicado en |
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Resumen | In this paper 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 ... In this paper 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. |
Identificador del proyecto | DPI2013-48243-C2-2-R
2014/425 and 2014/758 FP/2007- 2013 / ERC Grant Agreement n. 307608 |
Cita | Limón Marruedo, D., Pereira Martín, M., Muñoz de la Peña Sequedo, D., Alamo, T., Jones, C.N. y Zeilinger, M.N. (2016). MPC for Tracking Periodic References. (1123-1128), Institute of Electrical and Electronics Engineers. IEEE. |
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