Tracking MPC with non-convex steady state admissible sets. Issue 20 (2018)

• Record Type: Journal Article
• Authors: Cotorruelo, Andres; Limon, Daniel; Garone, Emanuele; Ramirez, Daniel R.
• Is Part Of: IFAC-PapersOnLine. Volume 51:Issue 20(2018)
• Page Start: 153
• Page End: 156
• Publication Date: 2018
• Subjects: Predictive control -- Target Tracking -- Transformations -- Constraint satisfaction problems; Automatic control -- Periodicals; 629.805
• DOI: 10.1016/j.ifacol.2018.11.008
• Languages: English
• ISSNs: 2405-8963

Abstract

Abstract: In this paper, we propose an extension to the existing Model Predictive Control scheme for tracking. This extension is able to provide a solution for the case where the set of steady-state admissible outputs is non-convex. This is achieved by means of a transformation that maps the output set into a convex set. In the proposed scheme, the cost function and constraints of the usual tracking MPC are modified, so that the controller can drive the system to any point in the admissible steady-state domain without violating any constraints. The paper discusses the feasibility and stability of the proposed approach and a final simulation demonstrates the effectiveness of the approach.