BECAS
SÁNCHEZ Ignacio JuliÁn Rodolfo
congresos y reuniones científicas
Título:
Model Predictive Periodic Output Path Following
Autor/es:
SÁNCHEZ, IGNACIO JULIÁN RODOLFO; D'JORGE AGUSTINA; LIMACHE ALEJANDRO; GONZALEZ, ALEJANDRO; FERRAMOSCA, ANTONIO
Lugar:
Buenos Aires
Reunión:
Conferencia; 2020 Argentine Conference on Automatic Control; 2020
Institución organizadora:
AADECA
Resumen:
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.
