MPC for tracking with optimal closed-loop performance.
Antonio FerramoscaDaniel LimónIgnacio AlvaradoTeodoro AlamoEduardo F. CamachoPublished in: CDC (2008)
Keyphrases
- closed loop
- open loop
- reference trajectory
- control system
- trajectory tracking
- tracking error
- feedback control
- control scheme
- control law
- parameter identification
- linear quadratic
- external disturbances
- real time
- asymptotic stability
- optimal solution
- feedback controller
- pid controller
- dynamic programming
- optimal control
- disturbance rejection
- iterative learning control
- mean shift
- controller design
- fuzzy logic
- guaranteed cost