Main Article Content
Abstract
The optimal nonlinear predictive control structure with end point constraints is presented, which provides asymptotic tracking of smooth reference trajectories. The controller is based on a finite horizon continuous time minimization of nonlinear predicted tracking errors. A key feature of the control law is that its implementation does not need to perform an online optimization, and asymptotic tracking of smooth reference signal is guaranteed. The proposed control scheme is applied to planning motions problem of a mobile robot. Simulations results are performed to validate the tracking performance of the proposed controller.
Keywords
Article Details
References
- Boucher, P. and Dumur, D., 1966, La commande prédictive, Collection méthode et pratique de l'ingénieur, Edition Technip. Paris.
- Chen, W.H., Balance, D.J. and Gawthrop, P.J., 2003, “Optimal Control of Nonlinear Systems: A
- Predictive Control Approach,” Automatica, Vol. 39, pp. 633-641.
- Demircioglu, H. and Gawthrop, P.J., 1991, “Continuous-time Generalized Predictive Control (GPC),” Automatica, Vol. 27(1), pp. 55-74.
- Henson, M.A. and Seborg, D.E., 1997, “Nonlinear Process Control,” Prentice Hall .
- Kim, M.S., Shin, J.H., Hong, S.G. and Lee, J.J., 2003, “Designing a Robust Adaptive Dynamic Controller for Nonholonomic Mobile Robots under Modeling Uncertainty and Disturbances, ” Mechatronics, Vol. 13, pp. 507-519.
- Michalska, H. and Mayne, D.Q., 1993, “Robust
- Receding Horizon Control of Constrained Nonlinear Systems,” IEEE Transactions on Automatic Control , Vol. 38(11), pp. 1623-1633.
- Ping, L., 1995, “Optimal Predictive Control of Continuous Nonlinear Systems,” Int. J. of Control Vol. 62(2), pp. 633-649.
- Singh, S.N., Steinberg, M. and DiGirolamo, R.D., 1995, “Nonlinear Predictive Control of Feedback Linearizable Systems and Flight Control System Design,” J. of Guidance, Control and Dynamics , Vol. 18(5), pp. 1023 -1028.
- Souroukh, M. and Kravaris, C., 1996, “A Continuoustime Formulation of Nonlinear Model Predictive Control,” Int. J. of Control, Vol. 63(1), pp. 121-146.
References
Boucher, P. and Dumur, D., 1966, La commande prédictive, Collection méthode et pratique de l'ingénieur, Edition Technip. Paris.
Chen, W.H., Balance, D.J. and Gawthrop, P.J., 2003, “Optimal Control of Nonlinear Systems: A
Predictive Control Approach,” Automatica, Vol. 39, pp. 633-641.
Demircioglu, H. and Gawthrop, P.J., 1991, “Continuous-time Generalized Predictive Control (GPC),” Automatica, Vol. 27(1), pp. 55-74.
Henson, M.A. and Seborg, D.E., 1997, “Nonlinear Process Control,” Prentice Hall .
Kim, M.S., Shin, J.H., Hong, S.G. and Lee, J.J., 2003, “Designing a Robust Adaptive Dynamic Controller for Nonholonomic Mobile Robots under Modeling Uncertainty and Disturbances, ” Mechatronics, Vol. 13, pp. 507-519.
Michalska, H. and Mayne, D.Q., 1993, “Robust
Receding Horizon Control of Constrained Nonlinear Systems,” IEEE Transactions on Automatic Control , Vol. 38(11), pp. 1623-1633.
Ping, L., 1995, “Optimal Predictive Control of Continuous Nonlinear Systems,” Int. J. of Control Vol. 62(2), pp. 633-649.
Singh, S.N., Steinberg, M. and DiGirolamo, R.D., 1995, “Nonlinear Predictive Control of Feedback Linearizable Systems and Flight Control System Design,” J. of Guidance, Control and Dynamics , Vol. 18(5), pp. 1023 -1028.
Souroukh, M. and Kravaris, C., 1996, “A Continuoustime Formulation of Nonlinear Model Predictive Control,” Int. J. of Control, Vol. 63(1), pp. 121-146.