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Reference Tracking MPC using Terminal Set Scaling
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
2012 (English)In: Proceedings of the 51st IEEE Conference on Decision and Control, IEEE conference proceedings, 2012, 4543-4548 p.Conference paper, Published paper (Refereed)
Abstract [en]

A common assumption when proving stability of linear MPC algorithms for tracking applications is to assume that the desired setpoint is located far into the interior of the feasible set. The reason for this is that the terminal state constraint set which is centered around the setpoint must be contained within the feasible set. In many applications this assumption can be severely limiting since the terminal set is relatively large and therefore limits how close the setpoint can be to the boundary of the feasible set. We present simple modifications that can be performed in order to guarantee stability and convergence to setpoints located arbitrarily close to the boundary of the feasible set. The main idea is to introduce a scaling variable which dynamically scales the terminal state constraint set and therefore allows a setpoint to be located arbitrarily close to the boundary. In addition to this the concept of pseudo setpoints is used to gain the maximum possible region of attraction and to handle infeasible references. Recursive feasibility and convergence to the desired setpoint, or its closest feasible alternative, is proven and a motivating example of controlling an agile fighter aircraft is given.

Place, publisher, year, edition, pages
IEEE conference proceedings, 2012. 4543-4548 p.
Keyword [en]
Model Predictive Control, MPC
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:liu:diva-89481DOI: 10.1109/CDC.2012.6426550ISI: 000327200404141ISBN: 978-1-4673-2065-8 (print)ISBN: 978-1-4673-2064-1 (print)OAI: oai:DiVA.org:liu-89481DiVA: diva2:608012
Conference
Proceedings of the 51st IEEE Conference on Decision and Control, Maui, HI, USA, 10-13 December, 2012
Projects
NFFP5
Funder
Vinnova, 2010-01255
Available from: 2013-02-26 Created: 2013-02-26 Last updated: 2014-01-17Bibliographically approved

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Simon, DanielLöfberg, JohanGlad, Torkel

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Citation style
  • apa
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  • vancouver
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  • Other style
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Language
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  • en-GB
  • en-US
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