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Sampled-data tracking under model predictive control and multi-rate planning⁎Partially funded by Universite Franco-Italienne/Universita Italo-Francese (UFI/UIF) through the Vinci program. Issue 2 (2020)
Record Type:
Journal Article
Title:
Sampled-data tracking under model predictive control and multi-rate planning⁎Partially funded by Universite Franco-Italienne/Universita Italo-Francese (UFI/UIF) through the Vinci program. Issue 2 (2020)
Main Title:
Sampled-data tracking under model predictive control and multi-rate planning⁎Partially funded by Universite Franco-Italienne/Universita Italo-Francese (UFI/UIF) through the Vinci program.
Abstract: 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.