文章基本信息

标题：MPC for nonlinear periodic tracking using reference generic offline computations ⁎
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作者：Johannes Köhler ; Matthias A. Müller ; Frank Allgöwer 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2018
卷号：51
期号：20
页码：556-561
DOI：10.1016/j.ifacol.2018.11.032
语种：English
出版社：Elsevier
摘要：AbstractWe present a nonlinear model predictive control (MPC) scheme for tracking of periodic output trajectories. The scheme combines stabilization and output regulation in one layer, thus ensuring constraint satisfaction irrespective of changes in the reference signal. For periodic reference signals we ensure exponential stability of the optimal periodic trajectory. The main tool to enable this design is a novel reference generic offline computation that provides suitable terminal ingredients for tracking of reference trajectories. The practicality of this approach is demonstrated at a benchmark example.