engleski

Constrained Reference Tracking based on Homothetic Sets

In this paper, we consider the problem of constrained tracking of piece-wise constant references for nonlinear dynamical systems. In the considered problem we assume that an existing controller satisfies constraints in a corresponding positive-invariant set of the system. To solve the problem we propose the use of homothetic transformations of the positive- invariant set to modify the existing control law. The proposed approach can be implemented as a tracking model predictive control or as a reference governor. Simulation and experimental results are provided, showing the applicability of the proposed approach to a class of nonlinear systems.

Reference tracking; Model predictive control; Reference governor

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