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.
2020, IFAC 2020 World Congress, Pages -
Sampled-Data Tracking under Model Predictive Control and Multi-Rate Planning (04b Atto di convegno in volume)
ELOBAID MOHAMED, MATTIONI MATTIA, MONACO Salvatore, Dorothée Normand-Cyrot
Gruppo di ricerca: Nonlinear Systems and Control