Unconstrained tracking MPC for continuous-time nonlinear systems

• Main Authors: Long, Yushen, Xie, Lihua
• Other Authors: School of Electrical and Electronic Engineering
• Format: Article
• Language: English
• Published: 2022
• Subjects: Engineering::Electrical and electronic engineering; Model Predictive Control; Tracking Control
• Online Access: https://hdl.handle.net/10356/159357
• Institution: Nanyang Technological University

In this paper, we extend unconstrained model predictive control (MPC) from setpoint stabilization to dynamic reference tracking for continuous-time nonlinear systems. In particular, we focus on the case when the reference cannot be perfectly tracked by the system due to dynamics and/or constraints....