Naslov
Constrained Reference Tracking based on Homothetic Sets

Autori
Ileš, Šandor ; Matuško, Jadranko ; Kolonić, Fetah

Izvornik
Automatika : časopis za automatiku, mjerenje, elektroniku, računarstvo i komunikacije (0005-1144) 56 (2015), 4; 411-423

Vrsta, podvrsta i kategorija rada
Radovi u časopisima, članak, znanstveni

Ključne riječi
Reference tracking; Model predictive control; Reference governor

Sažetak
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.

Izvorni jezik
Engleski

Znanstvena područja
Elektrotehnika

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