Details
| Original language | English |
|---|---|
| Title of host publication | 2018 European Control Conference, ECC 2018 |
| Pages | 1355-1360 |
| Number of pages | 6 |
| ISBN (electronic) | 9783952426982 |
| Publication status | Published - 27 Nov 2018 |
| Externally published | Yes |
| Event | 2018 European Control Conference (ECC) - Limassol, Cyprus Duration: 12 Jun 2018 → 15 Jun 2018 |
Publication series
| Name | 2018 European Control Conference, ECC 2018 |
|---|
Abstract
In this paper, we study the system theoretic properties of a reference tracking Model Predictive Control (MPC) scheme for general reference signals and nonlinear discrete-time systems subject to input and state constraints. Contrary to other existing theoretical results for reference tracking MPC, we do not modify the optimization problem with artificial references or terminal ingredients. Instead, we consider a simple, intuitive, implementation and derive theoretical guarantees under a sta- bilizability property of the system and a reachability condition on the reference trajectory. We provide sufficient conditions for exponential reference tracking and analyze the region of attraction.
ASJC Scopus subject areas
- Mathematics(all)
- Control and Optimization
- Engineering(all)
- Control and Systems Engineering
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2018 European Control Conference, ECC 2018. 2018. p. 1355-1360 8550428 (2018 European Control Conference, ECC 2018).
Research output: Chapter in book/report/conference proceeding › Conference contribution › Research
}
TY - GEN
T1 - Nonlinear Reference Tracking with Model Predictive Control
T2 - 2018 European Control Conference (ECC)
AU - Köhler, Johannes
AU - Müller, Matthias A.
AU - Allgöwer, Frank
N1 - Funding information: The authors would like to thank the German Research Foundation (DFG) for financial support of the project within the Research Training Group Soft Tissue Robotics (GRK 2198/1).
PY - 2018/11/27
Y1 - 2018/11/27
N2 - In this paper, we study the system theoretic properties of a reference tracking Model Predictive Control (MPC) scheme for general reference signals and nonlinear discrete-time systems subject to input and state constraints. Contrary to other existing theoretical results for reference tracking MPC, we do not modify the optimization problem with artificial references or terminal ingredients. Instead, we consider a simple, intuitive, implementation and derive theoretical guarantees under a sta- bilizability property of the system and a reachability condition on the reference trajectory. We provide sufficient conditions for exponential reference tracking and analyze the region of attraction.
AB - In this paper, we study the system theoretic properties of a reference tracking Model Predictive Control (MPC) scheme for general reference signals and nonlinear discrete-time systems subject to input and state constraints. Contrary to other existing theoretical results for reference tracking MPC, we do not modify the optimization problem with artificial references or terminal ingredients. Instead, we consider a simple, intuitive, implementation and derive theoretical guarantees under a sta- bilizability property of the system and a reachability condition on the reference trajectory. We provide sufficient conditions for exponential reference tracking and analyze the region of attraction.
UR - http://www.scopus.com/inward/record.url?scp=85059824133&partnerID=8YFLogxK
U2 - 10.23919/ECC.2018.8550428
DO - 10.23919/ECC.2018.8550428
M3 - Conference contribution
T3 - 2018 European Control Conference, ECC 2018
SP - 1355
EP - 1360
BT - 2018 European Control Conference, ECC 2018
Y2 - 12 June 2018 through 15 June 2018
ER -