Model Predictive Periodic Output Path following

SANCHEZ, IGNACIO J.; D'JORGE, AGUSTINA; LIMACHE, ALEJANDRO C.; GONZALEZ, ALEJANDRO H.; FERRAMOSCA, ANTONIO

2020 Argentine Conference on Automatic Control, AADECA 2020

Institute of Electrical and Electronics Engineers Inc.

Año: 2020

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.