In this paper, a new control scheme for sampled-data nonlinear model predictive control is proposed making use of a multi-rate based trajectory planning for designing admissible references over the prediction horizon. The proposed controller is compared with existing reference generators for model predictive control through simulations over a benchmark example.
Sampled-Data Tracking under Model Predictive Control and Multi-Rate Planning / Elobaid, Mohamed; Mattioni, Mattia; Monaco, Salvatore; Dorothée, Normand-Cyrot. - 53:2(2020), pp. 3620-3625. (Intervento presentato al convegno IFAC 2020 World Congress tenutosi a Berlino, Germania) [10.1016/j.ifacol.2020.12.2043].
Sampled-Data Tracking under Model Predictive Control and Multi-Rate Planning
Mohamed Elobaid;Mattia Mattioni
;Salvatore Monaco
;Dorothée Normand-Cyrot
2020
Abstract
In this paper, a new control scheme for sampled-data nonlinear model predictive control is proposed making use of a multi-rate based trajectory planning for designing admissible references over the prediction horizon. The proposed controller is compared with existing reference generators for model predictive control through simulations over a benchmark example.| File | Dimensione | Formato | |
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Elobaid_preprint_Sampled-Data-Tracking_2020.pdf
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Elobaid_SampledDataTracking_2020.pdf
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