Institute of Electrical and Electronics Engineers. IEEE
Abstract
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.MINECO-Spain and FEDER under project DPI2013-48243-C2-2-RUniversity of Seville under contracts 2014/425 and 2014/758European Research Council under the European Unions Seventh Framework Programme (FP/2007- 2013)/ ERC Grant Agreement n. 30760
