Model Predictive Periodic Output Path Following

Ignacio J. Sánchez, A. D'Jorge, A. Limache, A. González, A. Ferramosca
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引用次数: 1

Abstract

In this paper, a new model predictive controller for path following of periodic references is proposed. This controller combines trajectory planning and tracking stages in a single optimization problem for a given periodic parametric path. 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 losing feasibility. To illustrate the performance of the approach we discuss the example of ball and plate system.
模型预测周期输出路径如下
本文提出了一种新的周期参考点路径跟踪模型预测控制器。该控制器将给定周期参数路径的单个优化问题的轨迹规划和跟踪阶段相结合。此外,控制器解决的优化问题的约束不依赖于参考,允许参考的突然变化而不失去可行性。为了说明该方法的性能,我们以球板系统为例进行了讨论。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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