Safe Trajectory Tracking in Uncertain Environments

Batkovic, Ivo, 1992 (author): Chalmers tekniska högskola,Chalmers University of Technology

Ali, Mohammad (author)

Falcone, Paolo, 1977 (author): Chalmers tekniska högskola,Chalmers University of Technology

Zanon, Mario, 1985 (author): Chalmers tekniska högskola,Chalmers University of Technology,Scuola IMT - Istituzioni, Mercati, Tecnologie - Alti Studi di Lucca,IMT School for Advanced Studies

(creator_code:org_t)

2023
2023
English.
In: IEEE Transactions on Automatic Control. - 0018-9286 .- 1558-2523. ; 68:7, s. 4204-4217

Related links:: https://doi.org/10.1...; show more...; https://research.cha...; show less...

Abstract Subject headings

In Model Predictive Control (MPC) formulations of trajectory tracking problems, infeasible reference trajectories and a-priori unknown constraints can lead to cumbersome designs, aggressive tracking, and loss of recursive feasibility. This is the case, for example, in trajectory tracking applications for mobile systems in the presence of constraints which are not fully known a-priori. In this paper, we propose a new framework called Model Predictive Flexible trajectory Tracking Control (MPFTC), which relaxes the trajectory tracking requirement. Additionally, we accommodate recursive feasibility in the presence of a-priori unknown constraints, which might render the reference trajectory infeasible. In the proposed framework, constraint satisfaction is guaranteed at all times while the reference trajectory is tracked as good as constraint satisfaction allows, thus simplifying the controller design and reducing possibly aggressive tracking behavior. The proposed framework is illustrated with three numerical examples.

NATURVETENSKAP -- Data- och informationsvetenskap -- Datorteknik (hsv//swe)
NATURAL SCIENCES -- Computer and Information Sciences -- Computer Engineering (hsv//eng)
TEKNIK OCH TEKNOLOGIER -- Elektroteknik och elektronik (hsv//swe)
ENGINEERING AND TECHNOLOGY -- Electrical Engineering, Electronic Engineering, Information Engineering (hsv//eng)
TEKNIK OCH TEKNOLOGIER -- Elektroteknik och elektronik -- Reglerteknik (hsv//swe)
ENGINEERING AND TECHNOLOGY -- Electrical Engineering, Electronic Engineering, Information Engineering -- Control Engineering (hsv//eng)

By the author/editor: Batkovic, Ivo, 1 ...; Ali, Mohammad; Falcone, Paolo, ...; Zanon, Mario, 19 ...

About the subject

NATURAL SCIENCES: NATURAL SCIENCES; and Computer and Inf ...; and Computer Enginee ...

ENGINEERING AND TECHNOLOGY: ENGINEERING AND ...; and Electrical Engin ...; and Control Engineer ...

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