On model predictive control with sampled-data input for output tracking with prescribed performance
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arXiv
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| Main Authors: | , , |
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| Format: | Preprint |
| Published: |
2023
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| _version_ | 1866914730535288832 |
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| author | Dennstädt, Dario Lanza, Lukas Worthmann, Karl |
| author_facet | Dennstädt, Dario Lanza, Lukas Worthmann, Karl |
| contents | We propose a model predictive control (MPC) scheme with sampled-data input which ensures output-reference tracking within prescribed error bounds for relative-degree-one systems. Hereby, we explicitly deduce bounds on the required maximal control input and sampling frequency such that the MPC scheme is both initially and recursively feasible. A key feature of the proposed approach is that neither terminal conditions nor a sufficiently-large prediction horizon are imposed, rendering the MPC scheme computationally efficient. We illustrate the MPC algorithm via a numerical example of a torsional oscillator. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2312_07394 |
| institution | arXiv |
| publishDate | 2023 |
| record_format | arxiv |
| spellingShingle | On model predictive control with sampled-data input for output tracking with prescribed performance Dennstädt, Dario Lanza, Lukas Worthmann, Karl Optimization and Control We propose a model predictive control (MPC) scheme with sampled-data input which ensures output-reference tracking within prescribed error bounds for relative-degree-one systems. Hereby, we explicitly deduce bounds on the required maximal control input and sampling frequency such that the MPC scheme is both initially and recursively feasible. A key feature of the proposed approach is that neither terminal conditions nor a sufficiently-large prediction horizon are imposed, rendering the MPC scheme computationally efficient. We illustrate the MPC algorithm via a numerical example of a torsional oscillator. |
| title | On model predictive control with sampled-data input for output tracking with prescribed performance |
| topic | Optimization and Control |
| url | https://arxiv.org/abs/2312.07394 |