Journal
IEEE TRANSACTIONS ON AUTOMATIC CONTROL
Volume 61, Issue 4, Pages 1123-1128Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TAC.2015.2461811
Keywords
Periodic references; predictive control; stability; tracking
Funding
- MINECO-Spain
- FEDER [DPI2013-48243-C2-2-R]
- University of Seville [2014/425, 2014/758]
- European Research Council under the European Union's Seventh Framework Programme (FP)/ERC [307608]
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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.
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