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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)Report (Other academic)
Abstract [en]

A common assumption when proving stability of linear MPC algorithms fort racking applications is to assume that the desired setpoint is located farinto 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 severly 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 allowsa setpoint to be located arbitrarily close to the boundary. In addition to this the concept of pseudo setpoints are 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 aircraftis given.

Place, publisher, year, edition, pages
Linköping: Linköping University Electronic Press, 2012. , 17 p.
Series
LiTH-ISY-R, ISSN 1400-3902 ; 3044
Keyword [en]
MPC, Reference tracking, State constraints, Scaling, Invariant set
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:liu:diva-97988ISRN: LiTH-ISY-R-3044OAI: oai:DiVA.org:liu-97988DiVA: diva2:650887
Funder
Vinnova
Available from: 2013-09-23 Created: 2013-09-23 Last updated: 2014-09-15Bibliographically approved

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Simon, DanielLöfberg, JohanGlad, Torkel

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CiteExportLink to record
Permanent link

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Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • oxford
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf