Nonlinear predictive command governors for constrained tracking

摘要: A method based on conceptual tools of predictive control is described for solving tracking problems wherein pointwise-in-time input and/or state inequality constraints are present. It consists adding to a primal compensated system nonlinear device called command governor (CG) whose action the current state, set-point and prescribed constraints. The CG selects at any time virtual sequence amongst family linearly parameterized sequences by convex constrained quadratic optimization problem, feeds according receding horizon philosophy. overall proved fulfill constraints, be asymptotically stable, exhibit an offset-free behaviour, provided that admissibility condition initial satisfied. Though can tailored application hand appropriately choosing available design knobs, required on-line computational load usual case affine well tempered related relatively simple programming problem.